73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.0s | 12 errors · 318 warnings · 1522 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-18-31-12-507014-842bb46837df-7575 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.23sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.23sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 4.24sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.24sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 4.27sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.30sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.36sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.40sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.40sINFOmap_serverCreating + 4.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.53sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.53sINFOros2_control_node-12process started with pid [7719] ×2 + 4.53sINFOmove_group-24process started with pid [7756] ×2 + 4.53sINFOparameter_manager_node-25process started with pid [7784] ×2 + 4.53sINFOwaypoint_manager_node-26process started with pid [7785] ×2 + 4.53sINFOmove_joint_resampler_node-27process started with pid [7786] ×2 + 4.53sINFOmove_end_effector_resampler_node-28process started with pid [7787] ×2 + 4.53sINFOobjective_server_node_main-29process started with pid [7788] ×2 + 4.53sINFOcomponent_container_mt-30process started with pid [7789] ×2 + 4.53sINFOcomponent_container_mt-31process started with pid [7790] ×2 + 4.53sINFOexecute_objective_bridge-32process started with pid [7791] ×2 + 4.53sINFOui_teleop_bridge-33process started with pid [7796] ×2 + 4.53sINFOweb_bridge-34process started with pid [7797] ×2 + 4.53sINFOtf2_web_republisher_node-35process started with pid [7798] ×2 + 4.53sINFOvideo_server-36process started with pid [7799] ×2 + 4.53sINFOweb_bridge_auth_proxy-37process started with pid [7800] ×2 + 4.53sINFOweb_video_auth_proxy-38process started with pid [7803] ×2 + 4.54sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.54sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.54sINFOcomponent_container_isolated-1process started with pid [7625] ×2 + 4.54sINFOcomponent_container_isolated-2process started with pid [7626] ×2 + 4.54sINFOstatic_transform_publisher-3process started with pid [7627] ×2 + 4.54sINFOstatic_transform_publisher-4process started with pid [7628] ×2 + 4.54sINFOodom_qos_relay.py-5process started with pid [7629] ×2 + 4.55sINFOforward_stereo_publisher.py-6process started with pid [7630] ×2 + 4.55sINFOlidar_flattener.py-7process started with pid [7631] ×2 + 4.55sINFOstatic_transform_publisher-8process started with pid [7632] ×2 + 4.55sINFOstatic_transform_publisher-9process started with pid [7633] ×2 + 4.55sINFOscan_to_scan_filter_chain-10process started with pid [7715] ×2 + 4.55sINFOscan_to_scan_filter_chain-11process started with pid [7716] ×2 + 4.55sINFOros2-13process started with pid [7720] ×2 + 4.55sINFOros2-14process started with pid [7721] ×2 + 4.55sINFOros2-15process started with pid [7723] ×2 + 4.55sINFOros2-16process started with pid [7724] ×2 + 4.55sINFOros2-17process started with pid [7725] ×2 + 4.55sINFOros2-18process started with pid [7726] ×2 + 4.55sINFOros2-19process started with pid [7729] ×2 + 4.55sINFOros2-20process started with pid [7730] ×2 + 4.55sINFOros2-21process started with pid [7739] ×2 + 4.55sINFOros2-22process started with pid [7740] ×2 + 4.55sINFOros2-23process started with pid [7755] ×2 + 4.56sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.56sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.56sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.56sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.56sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.56sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.56sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.56sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.56sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.59sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.61sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.62sINFOlifecycle_manager_localizationCreating + 4.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.66sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.66sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.67sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.67sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.67sINFOmap_serverConfiguring + 4.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.68sINFOcontroller_managerupdate rate is 600 Hz + 4.68sINFOcontroller_managerOverruns handling is : enabled + 4.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.68sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.68sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.70sINFOcontroller_serverCreating controller server + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241724 ms (missed cycles : 2). + 4.72sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.73sINFOlocal_costmap.local_costmapCreating Costmap + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241724 ms (missed cycles : 2).[0m ×2 + 4.74sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.74sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.75sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.77sINFOsmoother_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. + 4.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.78sINFOsmoother_serverCreating smoother server + 4.78sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.78sINFOamclConfiguring + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.79sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.79sINFOmap_serverActivating + 4.80sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.82sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.84sINFOplanner_serverCreating + 4.84sINFOrobot_state_publisherRobot initialized + 4.84sINFOcontroller_managerReceived robot description from topic. + 4.84sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.85sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.85sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.85sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.88sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.88sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.89sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.90sINFOglobal_costmap.global_costmapCreating Costmap + 4.91sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.91sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.91sINFOamclActivating + 4.91sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.91sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.93sINFOamclSubscribed to map_topic: /map + 4.93sINFOamclSubscribed to scan_topic: /scan_merged + 4.93sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.94sINFOamclCreated reinitialize_global_localization service + 4.95sINFOamclCreated request_nomotion_update service + 4.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.97sINFOamclA new map was received + 4.97sINFOamclInitializing particle filter instance + 4.99sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.01sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.01sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.02sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.02sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.09sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.10sINFObt_navigatorCreating + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.16sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.16sINFOwaypoint_followerCreating + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.20sINFOvideo_server2026/09/04 18:31:19 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.20sINFOvideo_server2026/09/04 18:31:19 INF configuration loaded from /tmp/moveit-webrtc-30rdtr8u/mediamtx.yml ×2 + 5.20sINFOvideo_server2026/09/04 18:31:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.20sINFOvideo_server2026/09/04 18:31:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.22sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.25sINFOlifecycle_manager_navigationCreating + 5.28sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.31sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.31sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.31sINFOcontroller_serverConfiguring controller interface + 5.31sINFOcontroller_servergetting progress checker plugins.. + 5.31sINFOcontroller_servergetting goal checker plugins.. + 5.31sINFOcontroller_serverController frequency set to 20.0000Hz + 5.31sINFOlocal_costmap.local_costmapConfiguring + 5.34sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.36sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.38sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.38sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.38sWARNlaser_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. + 5.39sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.39sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.40sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.44sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.451397 seconds + 5.44sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.44sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.44sINFOmove_groupLoaded robot model in 0.451397 seconds[0m ×2 + 5.44sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.44sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.44sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.45sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.46sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.46sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.46sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.48sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.49sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.49sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.50sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.50sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.50sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.50sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.50sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.50sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.51sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.51sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.52sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.52sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.52sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.53sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.53sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.53sINFOcontroller_serverOptimizer reset ×2 + 5.55sINFOcontroller_serverController Server has FollowPath controllers available. + 5.57sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.57sINFOsmoother_serverConfiguring smoother server + 5.59sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.60sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.63sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.63sINFOplanner_serverConfiguring + 5.63sINFOglobal_costmap.global_costmapConfiguring + 5.64sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.65sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.65sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.65sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.65sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.67sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.67sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.68sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.73sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.73sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.73sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332788 ms (missed cycles : 3). + 5.74sINFOplanner_serverPlanner Server has GridBased planners available. + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332788 ms (missed cycles : 3).[0m ×2 + 5.76sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.76sINFObehavior_serverConfiguring + 5.77sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.78sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.78sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.79sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.80sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.80sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.80sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.81sINFObehavior_serverConfiguring spin + 5.81sINFOamclParticle filter initialization completed + 5.81sINFOamclInitializing particles from estimated pose and covariance + 5.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.82sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.82sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.82sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.82sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.83sINFObehavior_serverConfiguring backup + 5.84sINFObehavior_serverConfiguring drive_on_heading + 5.85sINFObehavior_serverConfiguring assisted_teleop + 5.87sINFObehavior_serverConfiguring wait + 5.88sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.88sINFObt_navigatorConfiguring + 5.90sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.92sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.20sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.25sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.25sINFOwaypoint_followerConfiguring + 6.27sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.27sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.27sINFOvelocity_smootherConfiguring velocity smoother + 6.28sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.28sINFOcontroller_serverActivating + 6.28sINFOlocal_costmap.local_costmapActivating + 6.28sINFOlocal_costmap.local_costmapChecking transform + 6.28sINFOlocal_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. ×7 + 6.30sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.30sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sINFOwaypoint_manager_nodeLoaded robot model in 0.393534 seconds[0m ×2 + 6.42sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.42sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.45sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.45sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.54sINFOmove_group[2026-09-04 18:31:20.648] [moveit_pro_license] [info] ×2 + 6.54sINFOmove_group************************************************* ×4 + 6.54sINFOmove_group* MoveIt Pro License ×2 + 6.54sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_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 ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_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 ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_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 ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_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 ×2 + 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 ×2 + 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 ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_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 ×2 + 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 ×2 + 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 ×2 + 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 ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.99sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.99sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.99sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.99sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.99sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.99sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.99sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.99sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.00sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.00sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.00sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.00sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.00sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.06sINFOwaypoint_manager_node[2026-09-04 18:31:21.172] [moveit_pro_license] [info] ×2 + 7.06sINFOwaypoint_manager_node************************************************* ×4 + 7.06sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.06sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.27sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.27sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.27sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.27sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.27sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.27sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.27sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.27sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.27sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.27sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.27sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.27sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.27sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.27sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.27sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.27sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.27sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.27sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.27sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.27sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.27sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.27sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.27sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.27sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.27sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.27sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.31sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.31sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.31sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.31sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.31sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 7.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 7.35sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.35sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.35sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.36sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613947 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613947 ms (missed cycles : 4).[0m ×2 + 7.37sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.37sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.40sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.40sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.46sINFOobjective_server_node[2026-09-04 18:31:21.575] [moveit_pro_license] [info] ×2 + 7.46sINFOobjective_server_node************************************************* ×4 + 7.46sINFOobjective_server_node* MoveIt Pro License ×2 + 7.46sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.53sINFOobjective_server_nodeLoaded robot model in 0.0241315 seconds[0m ×2 + 7.53sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.53sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.56sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.56sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.56sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 7.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 7.70sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 7.70sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 7.72sINFOros2-17process has finished cleanly [pid 7725] ×2 + 7.78sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 7.78sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 7.78sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 7.78sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 7.79sINFOplatform_velocity_controllerconfigure successful + 7.79sINFOros2_control_nodeconfigure successful[0m ×6 + 7.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 7.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 7.79sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 7.80sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.86sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.94sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.94sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.95sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.97sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.97sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.97sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.97sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.97sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.98sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.98sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.98sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.98sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.98sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.98sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.98sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.05sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.06sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.06sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.09sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.09sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.09sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.09sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.09sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.09sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.09sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.10sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.10sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.10sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.10sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.12sINFOros2-16process has finished cleanly [pid 7724] ×2 + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.20sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.21sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 8.21sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 8.22sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.22sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.27sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.27sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.27sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.27sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.27sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.27sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.29sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.29sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.42sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.47sINFOcomponent_container_mtLoaded robot model in 0.422803 seconds[0m ×2 + 8.47sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.47sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.62sINFOros2_control_node[2026-09-04 18:31:22.732] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.62sINFOros2_control_node[2026-09-04 18:31:22.735] [info] Controller state will be published at 10 Hz. ×2 + 8.62sINFOros2_control_node[2026-09-04 18:31:22.737] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990317 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990317 ms (missed cycles : 2).[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.85sINFOmove_groupMoveGroup debug mode is ON + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.85sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.85sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.90sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.90sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.90sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.90sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.90sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.91sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 8.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 8.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 8.96sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 8.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.99sINFOros2-21process has finished cleanly [pid 7739] ×2 + 9.03sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.03sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.03sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 9.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.03sINFOmove_group ×8 + 9.03sINFOmove_group******************************************************** ×4 + 9.03sINFOmove_group* MoveGroup using: ×2 + 9.03sINFOmove_group* - apply_planning_scene_service ×2 + 9.03sINFOmove_group* - clear_octomap_service ×2 + 9.03sINFOmove_group* - get_group_urdf ×2 + 9.03sINFOmove_group* - load_geometry_from_file ×2 + 9.03sINFOmove_group* - get_planning_scene_service ×2 + 9.03sINFOmove_group* - kinematics_service ×2 + 9.03sINFOmove_group* - save_geometry_to_file ×2 + 9.03sINFOmove_group* - GetPlanningGroups ×2 + 9.03sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.03sINFOmove_group[0m ×2 + 9.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.03sINFOmove_group[92mYou can start planning now![0m ×2 + 9.04sINFOplatform_velocity_controller_nav2configure successful + 9.05sINFOcomponent_container_mt[2026-09-04 18:31:23.166] [moveit_pro_license] [info] ×2 + 9.05sINFOcomponent_container_mt************************************************* ×4 + 9.05sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.39sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.39sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.40sWARNros2_control_nodeCamera render tick took 0.93 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.44sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.44sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.44sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.44sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 9.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 9.48sINFOros2-18process has finished cleanly [pid 7726] ×2 + 9.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 9.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 9.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.78sINFOlocal_costmap.local_costmapstart + 9.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 9.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.82sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 9.85sINFOros2-15process has finished cleanly [pid 7723] ×2 + 9.86sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.87sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.87sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.87sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.88sWARNcontroller_serverParameter controller_server.verbose not found + 9.88sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821696 ms (missed cycles : 5). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821696 ms (missed cycles : 5).[0m ×2 + 9.95sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.98sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.98sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.99sINFOsmoother_serverActivating + 9.99sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.08sWARNros2_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 + 10.09sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.09sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.09sINFOplanner_serverActivating + 10.09sINFOglobal_costmap.global_costmapActivating + 10.09sINFOglobal_costmap.global_costmapChecking transform + 10.09sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 10.20sINFOros2_control_node[2026-09-04 18:31:24.314] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.20sINFOros2_control_node[2026-09-04 18:31:24.316] [info] Controller state will be published at 10 Hz. ×2 + 10.20sINFOros2_control_node[2026-09-04 18:31:24.317] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.37sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788546683.570 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.46sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788546682.590 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.52sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.52sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.52sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.52sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.52sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 10.52sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 10.55sINFOros2-20process has finished cleanly [pid 7730] ×2 + 10.57sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.57sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.57sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.57sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.57sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.57sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.58sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.58sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 5.976ms + 10.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 10.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668566 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668566 ms (missed cycles : 2).[0m ×2 + 10.92sINFOros2-14process has finished cleanly [pid 7721] ×2 + 10.97sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.97sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.97sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.97sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.97sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.97sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.97sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.97sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.97sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.97sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.97sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.98sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.98sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.09sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788546685.180108, but only time 1788546685.194149 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.30sINFOros2-19process has finished cleanly [pid 7729] ×2 + 11.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 11.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 11.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.37sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.37sINFOforce_torque_sensor_broadcasterconfigure successful + 11.37sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.37sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.38sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.38sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.59sINFOglobal_costmap.global_costmapstart + 11.70sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.70sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.70sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.70sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.71sINFOros2-13process has finished cleanly [pid 7720] ×2 + 11.79sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 11.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 11.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.85sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.85sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215128 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215128 ms (missed cycles : 2).[0m ×2 + 12.65sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.65sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.75sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.75sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.75sINFObehavior_serverActivating + 12.75sINFObehavior_serverActivating spin + 12.75sINFObehavior_serverActivating backup + 12.75sINFObehavior_serverActivating drive_on_heading + 12.75sINFObehavior_serverActivating assisted_teleop + 12.75sINFObehavior_serverActivating wait + 12.75sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.86sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.86sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.86sINFObt_navigatorActivating + 12.92sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.99sINFOros2_control_node[2026-09-04 18:31:27.099] [info] Controller state will be published at 20 Hz. ×2 + 12.99sINFOros2_control_node[2026-09-04 18:31:27.100] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.03sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.03sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.03sINFOwaypoint_followerActivating + 13.03sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457031 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457031 ms (missed cycles : 2).[0m ×2 + 13.13sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.13sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.13sINFOvelocity_smootherActivating + 13.13sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.24sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.24sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.24sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.32sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.32sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 13.32sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.32sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 + 13.32sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 13.32sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6khvs__8 --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_ksolaz6g --params-file /tmp/launch_params_ojz9ylo1 [0m ×2 + 13.35sINFOros2-22process has finished cleanly [pid 7740] ×2 + 13.37sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 13.37sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 13.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 13.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 13.73sINFOros2_control_node[2026-09-04 18:31:27.842] [info] Controller state will be published at 20 Hz. ×2 + 13.73sINFOros2_control_node[2026-09-04 18:31:27.842] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.05sINFOros2-23process has finished cleanly [pid 7755] ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753933 ms (missed cycles : 4). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753933 ms (missed cycles : 4).[0m ×2 + 14.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730631 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730631 ms (missed cycles : 2).[0m ×2 + 15.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 17.31sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 18.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.94sINFOobjective_server_nodecaller: ×10 + 18.94sINFOobjective_server_nodetype: 0 ×10 + 18.95sINFOobjective_server_nodename: "" ×10 + 18.95sINFOobjective_server_nodeinstance_id: "" ×10 + 18.95sINFOobjective_server_node ×10 + 18.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.98sINFOmove_groupClearing octomap...[0m ×2 + 18.98sINFOmove_groupOctomap cleared.[0m ×2 + 18.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 19.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 20.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 20.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 21.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.0s | 3 errors · 287 warnings · 252 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.498ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255232 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255232 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.378ms + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.308ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259271 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259271 ms (missed cycles : 4).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.410ms + 2.33sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 2.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.935ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661716 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661716 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.692ms + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOjoint_trajectory_controllerGot request to cancel goal + 3.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788546903.71799946 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sINFOamclParticle filter update iteration stats: 4663 particles 723 points - 11.882ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958188 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958188 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788546904.29672217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.013ms + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211310 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211310 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672053 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672053 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304159 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304159 ms (missed cycles : 2).[0m ×2 + 7.51sWARNros2_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 + 7.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757971 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757971 ms (missed cycles : 2).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.825ms + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456909 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456909 ms (missed cycles : 3).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.714ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899131 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899131 ms (missed cycles : 3).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.463ms + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.822ms + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717618 ms (missed cycles : 3). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717618 ms (missed cycles : 3).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.494ms + 12.11sINFOamclParticle filter update iteration stats: 3824 particles 723 points - 6.958ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572098 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572098 ms (missed cycles : 3).[0m ×2 + 12.66sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 12.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×8 + 12.70sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 5.580ms + 13.28sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 3.881ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671882 ms (missed cycles : 3). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671882 ms (missed cycles : 3).[0m ×2 + 13.85sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.225ms + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961326 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961326 ms (missed cycles : 2).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494748 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494748 ms (missed cycles : 3).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923812 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923812 ms (missed cycles : 2).[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719879 ms (missed cycles : 4). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719879 ms (missed cycles : 4).[0m ×2 + 18.05sWARNros2_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 + 18.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 18.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222881 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222881 ms (missed cycles : 2).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127165 ms (missed cycles : 3). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127165 ms (missed cycles : 3).[0m ×2 + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981752 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981752 ms (missed cycles : 2).[0m ×2 + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817652 ms (missed cycles : 5). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817652 ms (missed cycles : 5).[0m ×2 + 22.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433246 ms (missed cycles : 3). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433246 ms (missed cycles : 3).[0m ×2 + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 24.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799646 ms (missed cycles : 3). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799646 ms (missed cycles : 3).[0m ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837853 ms (missed cycles : 5). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837853 ms (missed cycles : 5).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101521 ms (missed cycles : 3). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101521 ms (missed cycles : 3).[0m ×2 + 26.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780142 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780142 ms (missed cycles : 2).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.528ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010785 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010785 ms (missed cycles : 3).[0m ×2 + 29.00sWARNros2_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 + 29.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570821 ms (missed cycles : 3). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570821 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154459 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154459 ms (missed cycles : 2).[0m ×2 + 30.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081225 ms (missed cycles : 2). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081225 ms (missed cycles : 2).[0m ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647303 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647303 ms (missed cycles : 3).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266824 ms (missed cycles : 2). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266824 ms (missed cycles : 2).[0m ×2 + 34.59sWARNros2_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 + 34.61sWARNros2_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 + 34.73sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.73sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506558 ms (missed cycles : 4). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506558 ms (missed cycles : 4).[0m ×2 + 35.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023627 ms (missed cycles : 3). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023627 ms (missed cycles : 3).[0m ×2 + 36.33sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860055 ms (missed cycles : 3). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860055 ms (missed cycles : 3).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035290 ms (missed cycles : 5). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035290 ms (missed cycles : 5).[0m ×2 + 39.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.591546 ms (missed cycles : 4). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.591546 ms (missed cycles : 4).[0m ×2 + 39.71sWARNros2_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 + 39.73sWARNros2_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 + 39.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080128 ms (missed cycles : 2). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080128 ms (missed cycles : 2).[0m ×2 + 40.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 40.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341023 ms (missed cycles : 4). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341023 ms (missed cycles : 4).[0m ×2 + 41.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138239 ms (missed cycles : 2). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138239 ms (missed cycles : 2).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208006 ms (missed cycles : 4). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208006 ms (missed cycles : 4).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429630 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429630 ms (missed cycles : 3).[0m ×2 + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067348 ms (missed cycles : 3). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067348 ms (missed cycles : 3).[0m ×2 + 45.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057141 ms (missed cycles : 3). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057141 ms (missed cycles : 3).[0m ×2 + 47.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476830 ms (missed cycles : 4). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476830 ms (missed cycles : 4).[0m ×2 + 48.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566834 ms (missed cycles : 3). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566834 ms (missed cycles : 3).[0m ×2 + 49.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 49.75sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 50.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357312 ms (missed cycles : 4). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357312 ms (missed cycles : 4).[0m ×2 + 51.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656083 ms (missed cycles : 4). + 51.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656083 ms (missed cycles : 4).[0m ×2 + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744634 ms (missed cycles : 2). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744634 ms (missed cycles : 2).[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687303 ms (missed cycles : 2). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687303 ms (missed cycles : 2).[0m ×2 + 54.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571306 ms (missed cycles : 3). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571306 ms (missed cycles : 3).[0m ×2 + 54.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 55.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233213 ms (missed cycles : 2). + 55.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233213 ms (missed cycles : 2).[0m ×2 + 56.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 56.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996731 ms (missed cycles : 5). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996731 ms (missed cycles : 5).[0m ×2 + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011065 ms (missed cycles : 2). + 57.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011065 ms (missed cycles : 2).[0m ×2 + 57.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 58.59sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467066 ms (missed cycles : 3). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467066 ms (missed cycles : 3).[0m ×2 + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382494 ms (missed cycles : 3). + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382494 ms (missed cycles : 3).[0m ×2 + 60.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280288 ms (missed cycles : 4). + 60.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280288 ms (missed cycles : 4).[0m ×2 + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572089 ms (missed cycles : 4). + 61.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572089 ms (missed cycles : 4).[0m ×2 + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757210 ms (missed cycles : 2). + 62.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757210 ms (missed cycles : 2).[0m ×2 + 63.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.205909 ms (missed cycles : 5). + 63.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.205909 ms (missed cycles : 5).[0m ×2 + 64.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 64.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812131 ms (missed cycles : 2). + 64.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812131 ms (missed cycles : 2).[0m ×2 + 65.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 65.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346279 ms (missed cycles : 3). + 65.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346279 ms (missed cycles : 3).[0m ×2 + 66.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms + 66.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518479 ms (missed cycles : 2). + 66.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518479 ms (missed cycles : 2).[0m ×2 + 67.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 68.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241748 ms (missed cycles : 2). + 68.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241748 ms (missed cycles : 2).[0m ×2 + 68.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788546968.75684285 seconds ×3 + 68.23sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.23sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.33sWARNlocal_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 + 68.33sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.63sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788546969.33050823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.359ms + 69.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952044 ms (missed cycles : 3). + 69.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952044 ms (missed cycles : 3).[0m ×2 + 70.04sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 70.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250672 ms (missed cycles : 2). + 70.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250672 ms (missed cycles : 2).[0m ×2 + 71.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873913 ms (missed cycles : 2). + 71.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873913 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 252 warnings · 200 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.45sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 5.23sWARNros2_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 ×6 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557785 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557785 ms (missed cycles : 3).[0m ×2 + 7.00sWARNglobal_costmap.global_costmapSensor origin at (-1.73, -3.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925537 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925537 ms (missed cycles : 2).[0m ×2 + 8.00sWARNglobal_costmap.global_costmapSensor origin at (-1.80, -3.48) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.296ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297281 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297281 ms (missed cycles : 2).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.038ms + 9.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.018ms + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571385 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571385 ms (missed cycles : 3).[0m ×2 + 10.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.27sWARNros2_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 ×2 + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.505ms + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.385ms + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315392 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315392 ms (missed cycles : 2).[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.351ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036748 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036748 ms (missed cycles : 4).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.757ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947894 ms (missed cycles : 5). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947894 ms (missed cycles : 5).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.222ms + 13.87sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 7.229ms + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315577 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315577 ms (missed cycles : 2).[0m ×2 + 14.47sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 8.389ms + 15.07sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 4.927ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256844 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256844 ms (missed cycles : 2).[0m ×2 + 15.64sWARNros2_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 + 15.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.330ms + 16.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891829 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891829 ms (missed cycles : 2).[0m ×2 + 16.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125925 ms (missed cycles : 4). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125925 ms (missed cycles : 4).[0m ×2 + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 18.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 18.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232743 ms (missed cycles : 3). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232743 ms (missed cycles : 3).[0m ×2 + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017377 ms (missed cycles : 3). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017377 ms (missed cycles : 3).[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235629 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235629 ms (missed cycles : 2).[0m ×2 + 21.11sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 21.13sWARNros2_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 + 21.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355282 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355282 ms (missed cycles : 3).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645937 ms (missed cycles : 4). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645937 ms (missed cycles : 4).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793540 ms (missed cycles : 4). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793540 ms (missed cycles : 4).[0m ×2 + 24.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478545 ms (missed cycles : 5). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478545 ms (missed cycles : 5).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638720 ms (missed cycles : 2).[0m ×2 + 26.51sWARNros2_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 + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097377 ms (missed cycles : 4). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097377 ms (missed cycles : 4).[0m ×2 + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568169 ms (missed cycles : 4). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568169 ms (missed cycles : 4).[0m ×2 + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093130 ms (missed cycles : 3). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093130 ms (missed cycles : 3).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454774 ms (missed cycles : 2). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454774 ms (missed cycles : 2).[0m ×2 + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689585 ms (missed cycles : 2). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689585 ms (missed cycles : 2).[0m ×2 + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms + 32.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306692 ms (missed cycles : 2). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306692 ms (missed cycles : 2).[0m ×2 + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316294 ms (missed cycles : 5). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316294 ms (missed cycles : 5).[0m ×2 + 33.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 34.34sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613031 ms (missed cycles : 4). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613031 ms (missed cycles : 4).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741737 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741737 ms (missed cycles : 2).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486507 ms (missed cycles : 2). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486507 ms (missed cycles : 2).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156581 ms (missed cycles : 3). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156581 ms (missed cycles : 3).[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066642 ms (missed cycles : 3). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066642 ms (missed cycles : 3).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927334 ms (missed cycles : 5). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927334 ms (missed cycles : 5).[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032038 ms (missed cycles : 3). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032038 ms (missed cycles : 3).[0m ×2 + 41.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267042 ms (missed cycles : 2). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267042 ms (missed cycles : 2).[0m ×2 + 43.08sWARNros2_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 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416101 ms (missed cycles : 3). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416101 ms (missed cycles : 3).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116130 ms (missed cycles : 2). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116130 ms (missed cycles : 2).[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428230 ms (missed cycles : 2). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428230 ms (missed cycles : 2).[0m ×2 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693493 ms (missed cycles : 4). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693493 ms (missed cycles : 4).[0m ×2 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633387 ms (missed cycles : 3). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633387 ms (missed cycles : 3).[0m ×2 + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383384 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383384 ms (missed cycles : 3).[0m ×2 + 48.65sWARNros2_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 + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673236 ms (missed cycles : 3). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673236 ms (missed cycles : 3).[0m ×2 + 49.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 50.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984476 ms (missed cycles : 2). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984476 ms (missed cycles : 2).[0m ×2 + 51.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 52.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546326 ms (missed cycles : 6). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546326 ms (missed cycles : 6).[0m ×2 + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346056 ms (missed cycles : 4). + 53.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346056 ms (missed cycles : 4).[0m ×2 + 54.21sWARNros2_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 + 54.23sWARNros2_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 + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759604 ms (missed cycles : 3). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759604 ms (missed cycles : 3).[0m ×2 + 55.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275678 ms (missed cycles : 3). + 55.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275678 ms (missed cycles : 3).[0m ×2 + 55.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 56.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074895 ms (missed cycles : 3). + 56.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074895 ms (missed cycles : 3).[0m ×2 + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479953 ms (missed cycles : 4). + 57.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479953 ms (missed cycles : 4).[0m ×2 + 58.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473082 ms (missed cycles : 4). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473082 ms (missed cycles : 4).[0m ×2 + 59.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736499 ms (missed cycles : 4). + 59.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736499 ms (missed cycles : 4).[0m ×2 + 59.74sWARNros2_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 + 59.76sWARNros2_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 + 59.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 59.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788547032.62949991 seconds ×3 + 60.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.08sWARNlocal_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. ×3 + 60.38sWARNlocal_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 + 60.38sWARNlocal_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 + 60.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788547033.21497226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003634 ms (missed cycles : 5). + 60.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003634 ms (missed cycles : 5).[0m ×2 + 60.89sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 60.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.413ms + 61.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978430 ms (missed cycles : 3). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978430 ms (missed cycles : 3).[0m ×2 + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189328 ms (missed cycles : 4). + 62.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189328 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 242 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 0.62sWARNros2_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 + 0.64sWARNros2_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 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395870 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395870 ms (missed cycles : 4).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391362 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391362 ms (missed cycles : 3).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788546744.83302331 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500678 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500678 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788546745.40655422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 2.234ms + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868476 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868476 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603304 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603304 ms (missed cycles : 3).[0m ×2 + 5.69sWARNros2_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 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066018 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066018 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984891 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984891 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920172 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920172 ms (missed cycles : 2).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.103ms + 9.01sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 3.239ms + 9.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301428 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301428 ms (missed cycles : 2).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678343 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678343 ms (missed cycles : 2).[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 11.22sWARNros2_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 + 11.24sWARNros2_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 + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657190 ms (missed cycles : 4). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657190 ms (missed cycles : 4).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456801 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456801 ms (missed cycles : 3).[0m ×2 + 12.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804227 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804227 ms (missed cycles : 3).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060407 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060407 ms (missed cycles : 2).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716468 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716468 ms (missed cycles : 2).[0m ×2 + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 16.48sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.50sWARNros2_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 ×14 + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.631918 ms (missed cycles : 5). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.631918 ms (missed cycles : 5).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983320 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983320 ms (missed cycles : 2).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245232 ms (missed cycles : 3). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245232 ms (missed cycles : 3).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551798 ms (missed cycles : 3). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551798 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949860 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949860 ms (missed cycles : 2).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 21.85sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×12 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516731 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516731 ms (missed cycles : 3).[0m ×2 + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859825 ms (missed cycles : 2). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859825 ms (missed cycles : 2).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773331 ms (missed cycles : 3). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773331 ms (missed cycles : 3).[0m ×2 + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765117 ms (missed cycles : 4). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765117 ms (missed cycles : 4).[0m ×2 + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.455ms + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387851 ms (missed cycles : 3). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387851 ms (missed cycles : 3).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906989 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906989 ms (missed cycles : 2).[0m ×2 + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908599 ms (missed cycles : 3). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908599 ms (missed cycles : 3).[0m ×2 + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094261 ms (missed cycles : 2). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094261 ms (missed cycles : 2).[0m ×2 + 29.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688842 ms (missed cycles : 4). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688842 ms (missed cycles : 4).[0m ×2 + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131334 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131334 ms (missed cycles : 2).[0m ×2 + 32.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563078 ms (missed cycles : 4). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563078 ms (missed cycles : 4).[0m ×2 + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211148 ms (missed cycles : 2). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211148 ms (missed cycles : 2).[0m ×2 + 34.26sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847282 ms (missed cycles : 5). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847282 ms (missed cycles : 5).[0m ×2 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2).[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365182 ms (missed cycles : 3). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365182 ms (missed cycles : 3).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825825 ms (missed cycles : 2). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825825 ms (missed cycles : 2).[0m ×2 + 38.26sWARNros2_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 + 38.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283098 ms (missed cycles : 3). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283098 ms (missed cycles : 3).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799093 ms (missed cycles : 3). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799093 ms (missed cycles : 3).[0m ×2 + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890301 ms (missed cycles : 3). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890301 ms (missed cycles : 3).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998203 ms (missed cycles : 3). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998203 ms (missed cycles : 3).[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800989 ms (missed cycles : 3). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800989 ms (missed cycles : 3).[0m ×2 + 43.76sWARNros2_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 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686559 ms (missed cycles : 3). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686559 ms (missed cycles : 3).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154646 ms (missed cycles : 5). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154646 ms (missed cycles : 5).[0m ×2 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963245 ms (missed cycles : 5). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963245 ms (missed cycles : 5).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311341 ms (missed cycles : 3). + 47.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311341 ms (missed cycles : 3).[0m ×2 + 48.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748485 ms (missed cycles : 2). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748485 ms (missed cycles : 2).[0m ×2 + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054470 ms (missed cycles : 5). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054470 ms (missed cycles : 5).[0m ×2 + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814109 ms (missed cycles : 4). + 50.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814109 ms (missed cycles : 4).[0m ×2 + 51.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020437 ms (missed cycles : 4). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020437 ms (missed cycles : 4).[0m ×2 + 52.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073904 ms (missed cycles : 4). + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073904 ms (missed cycles : 4).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643644 ms (missed cycles : 3). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643644 ms (missed cycles : 3).[0m ×2 + 55.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017308 ms (missed cycles : 3). + 55.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017308 ms (missed cycles : 3).[0m ×2 + 55.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539118 ms (missed cycles : 2). + 56.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539118 ms (missed cycles : 2).[0m ×2 + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2).[0m ×2 + 58.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2). + 58.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2).[0m ×2 + 59.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3). + 59.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3).[0m ×2 + 59.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 59.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546801.98670816 seconds ×3 + 59.95sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.95sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.15sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.15sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.40sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2).[0m ×2 + 60.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546802.57636976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.038ms + 60.83sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 61.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2). + 61.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2).[0m ×2 + 62.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2). + 62.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.9s | 238 warnings · 220 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 1.17sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546841.11241078 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 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_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 + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 `Plan Path Along Surface` starting at time: 1788546841.70187759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.551ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.44sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008811 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008811 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036951 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036951 ms (missed cycles : 2).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.006ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862521 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862521 ms (missed cycles : 2).[0m ×2 + 9.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.535ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.552ms + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806615 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806615 ms (missed cycles : 2).[0m ×2 + 10.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.154ms + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.937ms + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666950 ms (missed cycles : 4). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666950 ms (missed cycles : 4).[0m ×2 + 11.45sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.870ms + 12.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.840ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083568 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083568 ms (missed cycles : 3).[0m ×2 + 12.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.957ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290740 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290740 ms (missed cycles : 2).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.175ms + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.097ms + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189326 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189326 ms (missed cycles : 2).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.236ms + 15.53sINFOamclParticle filter update iteration stats: 4921 particles 723 points - 8.969ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191502 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191502 ms (missed cycles : 2).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 4301 particles 723 points - 7.885ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574469 ms (missed cycles : 5). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574469 ms (missed cycles : 5).[0m ×2 + 16.69sWARNros2_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 ×10 + 16.71sWARNros2_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 + 16.73sINFOamclParticle filter update iteration stats: 3710 particles 723 points - 8.562ms + 17.33sINFOamclParticle filter update iteration stats: 3232 particles 723 points - 7.021ms + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147345 ms (missed cycles : 2). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147345 ms (missed cycles : 2).[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 2606 particles 723 points - 5.038ms + 18.54sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 4.599ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570133 ms (missed cycles : 3). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570133 ms (missed cycles : 3).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 3.838ms + 19.79sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.297ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568981 ms (missed cycles : 3). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568981 ms (missed cycles : 3).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.173ms + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938046 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938046 ms (missed cycles : 2).[0m ×2 + 21.02sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 2.388ms + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930137 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930137 ms (missed cycles : 2).[0m ×2 + 22.25sWARNros2_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 + 22.27sWARNros2_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 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326020 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326020 ms (missed cycles : 2).[0m ×2 + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 24.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566982 ms (missed cycles : 4). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566982 ms (missed cycles : 4).[0m ×2 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914012 ms (missed cycles : 3). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914012 ms (missed cycles : 3).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735293 ms (missed cycles : 4). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735293 ms (missed cycles : 4).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428001 ms (missed cycles : 4). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428001 ms (missed cycles : 4).[0m ×2 + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551748 ms (missed cycles : 4). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551748 ms (missed cycles : 4).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322457 ms (missed cycles : 2). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322457 ms (missed cycles : 2).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538818 ms (missed cycles : 5). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538818 ms (missed cycles : 5).[0m ×2 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454743 ms (missed cycles : 4). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454743 ms (missed cycles : 4).[0m ×2 + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454497 ms (missed cycles : 5). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454497 ms (missed cycles : 5).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 33.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189874 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189874 ms (missed cycles : 2).[0m ×2 + 34.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898171 ms (missed cycles : 3). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898171 ms (missed cycles : 3).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226701 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226701 ms (missed cycles : 3).[0m ×2 + 36.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878109 ms (missed cycles : 2). + 36.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878109 ms (missed cycles : 2).[0m ×2 + 37.80sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927741 ms (missed cycles : 3). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927741 ms (missed cycles : 3).[0m ×2 + 38.23sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 38.25sWARNros2_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 + 38.51sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866629 ms (missed cycles : 3). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866629 ms (missed cycles : 3).[0m ×2 + 40.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701318 ms (missed cycles : 2). + 40.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701318 ms (missed cycles : 2).[0m ×2 + 40.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010991 ms (missed cycles : 2). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010991 ms (missed cycles : 2).[0m ×2 + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 42.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844359 ms (missed cycles : 4). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844359 ms (missed cycles : 4).[0m ×2 + 42.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 43.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943701 ms (missed cycles : 2). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943701 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152124 ms (missed cycles : 3). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152124 ms (missed cycles : 3).[0m ×2 + 44.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645308 ms (missed cycles : 2). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645308 ms (missed cycles : 2).[0m ×2 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071869 ms (missed cycles : 2). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071869 ms (missed cycles : 2).[0m ×2 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210692 ms (missed cycles : 3). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210692 ms (missed cycles : 3).[0m ×2 + 48.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 48.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787919 ms (missed cycles : 2). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787919 ms (missed cycles : 2).[0m ×2 + 49.29sWARNros2_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 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571095 ms (missed cycles : 4). + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571095 ms (missed cycles : 4).[0m ×2 + 51.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 51.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903133 ms (missed cycles : 3). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903133 ms (missed cycles : 3).[0m ×2 + 52.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724725 ms (missed cycles : 2). + 52.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724725 ms (missed cycles : 2).[0m ×2 + 52.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178311 ms (missed cycles : 2). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178311 ms (missed cycles : 2).[0m ×2 + 54.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981307 ms (missed cycles : 2). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981307 ms (missed cycles : 2).[0m ×2 + 54.70sWARNros2_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 + 54.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 54.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788546892.97200775 seconds ×3 + 54.95sWARNlocal_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. ×4 + 54.95sWARNlocal_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. ×4 + 55.35sWARNlocal_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 + 55.35sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.41sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788546893.55246234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082134 ms (missed cycles : 2). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082134 ms (missed cycles : 2).[0m ×2 + 55.82sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 55.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.251ms + 56.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863656 ms (missed cycles : 2). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863656 ms (missed cycles : 2).[0m ×2 + 57.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503892 ms (missed cycles : 2). + 57.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503892 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 177 warnings · 380 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.57sINFOmove_groupClearing octomap...[0m ×2 + 0.57sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 1.98sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_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 + 2.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 2.54sWARNros2_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 ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467911 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467911 ms (missed cycles : 3).[0m ×2 + 7.53sWARNros2_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 + 7.55sWARNros2_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 + 7.56sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.784ms + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935069 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935069 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641232 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641232 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347574 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347574 ms (missed cycles : 2).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600640 ms (missed cycles : 4). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600640 ms (missed cycles : 4).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654610 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654610 ms (missed cycles : 3).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010249 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010249 ms (missed cycles : 4).[0m ×2 + 13.08sWARNros2_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 + 13.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246635 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246635 ms (missed cycles : 2).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992643 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992643 ms (missed cycles : 2).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203507 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203507 ms (missed cycles : 4).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250418 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250418 ms (missed cycles : 2).[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107560 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107560 ms (missed cycles : 2).[0m ×2 + 18.62sWARNros2_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 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756048 ms (missed cycles : 3). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756048 ms (missed cycles : 3).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320718 ms (missed cycles : 2). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320718 ms (missed cycles : 2).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324145 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324145 ms (missed cycles : 2).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428800 ms (missed cycles : 3). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428800 ms (missed cycles : 3).[0m ×2 + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611202 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611202 ms (missed cycles : 2).[0m ×2 + 24.18sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940024 ms (missed cycles : 4). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940024 ms (missed cycles : 4).[0m ×2 + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454234 ms (missed cycles : 3). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454234 ms (missed cycles : 3).[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783263 ms (missed cycles : 3). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783263 ms (missed cycles : 3).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950360 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950360 ms (missed cycles : 2).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303959 ms (missed cycles : 2). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303959 ms (missed cycles : 2).[0m ×2 + 29.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442463 ms (missed cycles : 3). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442463 ms (missed cycles : 3).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491538 ms (missed cycles : 3). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491538 ms (missed cycles : 3).[0m ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923995 ms (missed cycles : 3). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923995 ms (missed cycles : 3).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174245 ms (missed cycles : 2). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174245 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726018 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726018 ms (missed cycles : 2).[0m ×2 + 34.71sWARNros2_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 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967940 ms (missed cycles : 2). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967940 ms (missed cycles : 2).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622408 ms (missed cycles : 2). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622408 ms (missed cycles : 2).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255246 ms (missed cycles : 2). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255246 ms (missed cycles : 2).[0m ×2 + 38.05sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 3.174ms + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180706 ms (missed cycles : 4). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180706 ms (missed cycles : 4).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839892 ms (missed cycles : 2). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839892 ms (missed cycles : 2).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 42.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752744 ms (missed cycles : 2). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752744 ms (missed cycles : 2).[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2).[0m ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3).[0m ×2 + 46.14sINFOjoint_trajectory_controllerGoal reached, success! + 46.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546738.70007610 seconds ×3 + 46.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2).[0m ×2 + 46.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.72sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546739.27289891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2).[0m ×2 + 47.86sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 47.93sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2).[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2).[0m ×2 + 49.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.8s | 149 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186337 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186337 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_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 + 0.25sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967270 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967270 ms (missed cycles : 3).[0m ×2 + 1.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.37sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788546808.35650897 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856900 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856900 ms (missed cycles : 5).[0m ×2 + 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 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×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 + 2.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788546809.93226862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009535 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009535 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904342 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904342 ms (missed cycles : 2).[0m ×2 + 4.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.30sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441262 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441262 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010279 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010279 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833188 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833188 ms (missed cycles : 3).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.966ms + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.585ms + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949826 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949826 ms (missed cycles : 2).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.322ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.604ms + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245395 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245395 ms (missed cycles : 2).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.400ms + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.921ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784287 ms (missed cycles : 3). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784287 ms (missed cycles : 3).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.789ms + 12.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.676ms + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693466 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693466 ms (missed cycles : 2).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.992ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406941 ms (missed cycles : 4). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406941 ms (missed cycles : 4).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 14.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.590ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884327 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884327 ms (missed cycles : 2).[0m ×2 + 14.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 15.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874921 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874921 ms (missed cycles : 3).[0m ×2 + 15.94sWARNros2_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 + 15.96sWARNros2_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 + 15.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.164ms + 16.56sINFOamclParticle filter update iteration stats: 4807 particles 723 points - 8.098ms + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3).[0m ×2 + 17.15sINFOamclParticle filter update iteration stats: 4332 particles 723 points - 12.612ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.967439 ms (missed cycles : 5). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.967439 ms (missed cycles : 5).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 3824 particles 723 points - 6.908ms + 18.32sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 6.841ms + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853452 ms (missed cycles : 3). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853452 ms (missed cycles : 3).[0m ×2 + 18.94sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 5.583ms + 19.58sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 5.557ms + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804253 ms (missed cycles : 4). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804253 ms (missed cycles : 4).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 2868 particles 723 points - 7.072ms + 20.80sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 5.443ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917594 ms (missed cycles : 3). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917594 ms (missed cycles : 3).[0m ×2 + 21.34sWARNros2_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 + 21.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 21.38sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 4.888ms + 21.98sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 3.970ms + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714883 ms (missed cycles : 3). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714883 ms (missed cycles : 3).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 3.162ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895495 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895495 ms (missed cycles : 2).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.623ms + 23.80sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 3.779ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986342 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986342 ms (missed cycles : 3).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.405ms + 25.02sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.839ms + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775990 ms (missed cycles : 3). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775990 ms (missed cycles : 3).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529937 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529937 ms (missed cycles : 3).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305001 ms (missed cycles : 2). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305001 ms (missed cycles : 2).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763755 ms (missed cycles : 5). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763755 ms (missed cycles : 5).[0m ×2 + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302640 ms (missed cycles : 4). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302640 ms (missed cycles : 4).[0m ×2 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872477 ms (missed cycles : 3). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872477 ms (missed cycles : 3).[0m ×2 + 31.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5).[0m ×2 + 31.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 32.33sWARNros2_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 + 32.35sWARNros2_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 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3).[0m ×2 + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4).[0m ×2 + 34.13sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546841.11241078 seconds ×3 + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.68sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788546841.70187759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.551ms + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2).[0m ×2 + 35.08sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2).[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2).[0m ×2 + 37.60sWARNros2_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 + 37.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.2s | 95 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479953 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479953 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473082 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473082 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736499 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736499 ms (missed cycles : 4).[0m ×2 + 2.27sWARNros2_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 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.43sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.43sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788547032.62949991 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.61sWARNlocal_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. ×3 + 2.91sWARNlocal_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 + 2.91sWARNlocal_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 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.99sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.99sINFOobjective_server_nodecaller: ×6 + 2.99sINFOobjective_server_nodetype: 0 ×6 + 2.99sINFOobjective_server_nodename: "" ×6 + 2.99sINFOobjective_server_nodeinstance_id: "" ×6 + 2.99sINFOobjective_server_node ×6 + 3.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788547033.21497226 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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003634 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003634 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.413ms + 3.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978430 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978430 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189328 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189328 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394202 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394202 ms (missed cycles : 3).[0m ×2 + 7.36sWARNros2_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 + 7.38sWARNros2_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 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680025 ms (missed cycles : 5). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680025 ms (missed cycles : 5).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577458 ms (missed cycles : 4). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577458 ms (missed cycles : 4).[0m ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×4 + 9.48sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.65sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749662 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749662 ms (missed cycles : 4).[0m ×2 + 10.11sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 10.54sINFOobjective_server_nodeFound path in 33 iterations (0.0413079 s). ×2 + 11.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853863 ms (missed cycles : 4). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853863 ms (missed cycles : 4).[0m ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 11.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883584 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883584 ms (missed cycles : 3).[0m ×2 + 12.46sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.52sWARNros2_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 + 12.54sWARNros2_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 + 12.70sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202091 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202091 ms (missed cycles : 2).[0m ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527957 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527957 ms (missed cycles : 3).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.156ms + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275668 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275668 ms (missed cycles : 2).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.270ms + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.104ms + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543105 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543105 ms (missed cycles : 3).[0m ×2 + 16.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.045ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2).[0m ×2 + 18.03sWARNros2_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 + 18.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.466ms + 18.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547048.86958623 seconds ×3 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2).[0m ×2 + 19.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.23sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547049.47837567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.30sINFOmove_groupClearing octomap...[0m ×2 + 19.30sINFOmove_groupOctomap cleared.[0m ×2 + 19.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.939ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2).[0m ×2 + 20.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547050.30851626 seconds ×3 + 20.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547050.88296056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2).[0m ×2 + 21.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547051.59307909 seconds ×3 + 21.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221569 ms (missed cycles : 2). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 108 errors · 40 warnings · 516 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.045ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2).[0m ×2 + 1.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNros2_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 + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.466ms + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547048.86958623 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547049.47837567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.939ms + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547050.30851626 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547050.88296056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2).[0m ×2 + 4.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547051.59307909 seconds ×3 + 4.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221569 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221569 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_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 + 6.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493078 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493078 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342137 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342137 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323188 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323188 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350381 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350381 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807427 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807427 ms (missed cycles : 2).[0m ×2 + 10.90sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.91sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORweb_video_auth_proxy-38process has died [pid 7803, 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 + 10.91sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.92sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_bridge_auth_proxy-37process has died [pid 7800, 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 + 10.92sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.95sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.96sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.97sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.98sINFOvideo_server-36process has finished cleanly [pid 7799] ×2 + 10.98sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.98sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.99sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 11.01sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 11.02sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 11.03sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 11.04sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 11.05sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 11.06sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 11.08sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 11.09sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 11.09sINFOcontroller_managerShutdown request received.... + 11.09sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.09sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.09sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.09sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.09sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.09sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.09sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.09sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.09sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.09sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.10sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.10sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.10sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.10sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.10sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.10sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.10sINFOcontroller_managerShutting down the controller manager. + 11.10sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 11.11sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 11.13sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 11.13sERRORmove_group-24process has died [pid 7756, 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_dr1fmgq0 --params-file /tmp/launch_params_hxszy0nk --params-file /tmp/launch_params_cunsuhpd --params-file /tmp/launch_params_6ky7hw7n --params-file /tmp/launch_params_b5bydawc --params-file /tmp/launch_params_a3wu3f9l']. ×2 + 11.14sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 11.15sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 11.16sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.17sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.18sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.18sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.19sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.19sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.19sINFOmap_serverDeactivating + 11.19sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.20sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.20sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.20sINFOcontroller_serverDeactivating + 11.20sINFOlocal_costmap.local_costmapDeactivating + 11.20sINFOvideo_server2026/09/04 18:37:38 INF shutting down gracefully ×2 + 11.20sINFOvideo_server2026/09/04 18:37:38 INF [WebRTC] closing ×2 + 11.20sINFOvideo_server2026/09/04 18:37:38 INF [RTSP] closing ×2 + 11.20sINFOvideo_server2026/09/04 18:37:38 INF waiting for running hooks ×2 + 11.20sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmap_serverCleaning up + 11.20sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.20sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.21sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.21sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.21sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.21sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.21sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.21sERRORmove_groupStack trace (most recent call last) in thread 8420: ×2 + 11.21sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.21sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c14d97a63, in __clone ×2 + 11.21sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c14d0aaa3, in ×2 + 11.21sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0c14f9cdb3, in ×2 + 11.21sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f0c15701a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.21sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c1532e620, in rclcpp::Rate::sleep() ×2 + 11.21sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c15270d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.21sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c15232087, in ×2 + 11.21sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0c14f6b390, in __cxa_throw ×2 + 11.21sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0c14f55a54, in std::terminate() ×2 + 11.21sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0c14f6b0d9, in ×2 + 11.21sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0c14f55ff4, in ×2 + 11.21sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c14c968fe, in abort ×2 + 11.21sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c14cb327d, in raise ×2 + 11.21sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c14d0cb2c, in pthread_kill ×2 + 11.21sERRORmove_groupAborted (Signal sent by tkill() 7756 0) ×2 + 11.21sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.21sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.21sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.21sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.21sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.21sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.21sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.21sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.21sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.21sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.22sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.22sINFOodom_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 + 11.22sINFOodom_qos_relay.pymain() ×2 + 11.22sINFOodom_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 + 11.22sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.22sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.22sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.22sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.22sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.22sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.22sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.22sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.22sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.22sERRORamclThe bond connection to the lifecycle manager has been broken + 11.23sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.24sINFOcontroller_serverCleaning up + 11.24sINFOlocal_costmap.local_costmapCleaning up + 11.29sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.29sINFOsmoother_serverDeactivating + 11.29sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.30sINFOsmoother_serverCleaning up + 11.31sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.31sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.31sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.31sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.31sINFOplanner_serverDeactivating + 11.31sINFOglobal_costmap.global_costmapDeactivating + 11.39sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.39sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.39sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.39sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.39sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.39sINFOvelocity_smootherDeactivating + 11.39sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.50sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.50sINFOwaypoint_followerDeactivating + 11.50sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.55sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.55sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.56sINFOplanner_serverCleaning up + 11.58sINFOglobal_costmap.global_costmapCleaning up + 11.58sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.58sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.62sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.62sINFObt_navigatorDeactivating + 11.62sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.62sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.62sINFObehavior_serverDeactivating + 11.62sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.63sINFObehavior_serverCleaning up + 11.64sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.64sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.64sINFOwaypoint_followerCleaning up + 11.64sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.65sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.65sINFOvelocity_smootherCleaning up + 11.65sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.73sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.73sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.73sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.73sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.74sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.74sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.74sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.74sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.75sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.75sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.76sINFObt_navigatorCleaning up + 11.93sINFObt_navigatorCompleted Cleaning up + 11.94sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.94sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.94sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.94sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.94sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.94sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.94sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.94sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.94sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.02sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7798] ×2 + 12.02sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 12.09sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7787] ×2 + 12.10sINFOexecute_objective_bridge-32process has finished cleanly [pid 7791] ×2 + 12.10sINFOui_teleop_bridge-33process has finished cleanly [pid 7796] ×2 + 12.11sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7786] ×2 + 12.13sINFOcomponent_container_mt-31process has finished cleanly [pid 7790] ×2 + 12.14sINFOparameter_manager_node-25process has finished cleanly [pid 7784] ×2 + 12.15sINFOwaypoint_manager_node-26process has finished cleanly [pid 7785] ×2 + 12.16sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7716] ×2 + 12.16sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7715] ×2 + 12.17sINFOstatic_transform_publisher-9process has finished cleanly [pid 7633] ×2 + 12.18sINFOstatic_transform_publisher-8process has finished cleanly [pid 7632] ×2 + 12.19sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.19sINFOlidar_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 + 12.19sINFOlidar_flattener.pymain() ×2 + 12.19sINFOlidar_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 + 12.19sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.19sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.19sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.19sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.19sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.19sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.19sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.19sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.19sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.20sINFOobjective_server_node[2026-09-04 18:37:39.355] [moveit_pro_license] [critical] ×2 + 12.20sINFOobjective_server_node************************************************* ×4 + 12.20sINFOobjective_server_node* MoveIt Pro License ×2 + 12.20sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.22sINFOstatic_transform_publisher-4process has finished cleanly [pid 7628] ×2 + 12.23sINFOstatic_transform_publisher-3process has finished cleanly [pid 7627] ×2 + 12.24sERRORlidar_flattener.py-7process has died [pid 7631, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_k5uchebb']. ×2 + 12.25sERRORcomponent_container_isolated-1process has died [pid 7625, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_zde4r2p3 --params-file /tmp/launch_params_pmit2ya0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.27sERRORodom_qos_relay.py-5process has died [pid 7629, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.27sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7630] ×2 + 12.27sINFOobjective_server_node_main-29process has finished cleanly [pid 7788] ×2 + 12.27sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 13.22sINFOcomponent_container_mt-30process has finished cleanly [pid 7789] ×2 + 13.56sERRORcomponent_container_isolated-2process has died [pid 7626, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_zde4r2p3 --params-file /tmp/launch_params_59kn9zo7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.67sINFOweb_bridge-34process has finished cleanly [pid 7797] ×2 + 13.67sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.84sINFOros2_control_node-12process has finished cleanly [pid 7719] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 103 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724725 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178311 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178311 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981307 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981307 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 ×2 + 2.49sWARNros2_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 + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788546892.97200775 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sWARNlocal_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. ×4 + 2.72sWARNlocal_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. ×4 + 3.12sWARNlocal_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 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788546893.55246234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082134 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082134 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.251ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863656 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863656 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503892 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503892 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235608 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235608 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963331 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963331 ms (missed cycles : 2).[0m ×2 + 7.51sWARNros2_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 + 7.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.768ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081368 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081368 ms (missed cycles : 4).[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.779ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038952 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038952 ms (missed cycles : 2).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.590ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.498ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255232 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255232 ms (missed cycles : 2).[0m ×2 + 10.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.378ms + 11.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.308ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259271 ms (missed cycles : 4). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259271 ms (missed cycles : 4).[0m ×2 + 12.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.410ms + 12.62sWARNros2_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 + 12.64sWARNros2_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 + 12.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.935ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661716 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661716 ms (missed cycles : 2).[0m ×2 + 13.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.692ms + 13.33sINFOobjective_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 + 13.33sINFOjoint_trajectory_controllerGot request to cancel goal + 13.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.33sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.35sERRORobjective_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: 1788546903.71799946 seconds ×3 + 13.42sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.42sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.82sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.82sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.85sINFOamclParticle filter update iteration stats: 4663 particles 723 points - 11.882ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958188 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958188 ms (missed cycles : 3).[0m ×2 + 13.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.89sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788546904.29672217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.013ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211310 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211310 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672053 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672053 ms (missed cycles : 3).[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304159 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304159 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 65 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546801.98670816 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.86sWARNros2_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 + 2.88sWARNros2_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 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546802.57636976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.038ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440177 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440177 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186337 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186337 ms (missed cycles : 2).[0m ×2 + 7.89sWARNros2_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 + 7.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967270 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967270 ms (missed cycles : 3).[0m ×2 + 9.03sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788546808.35650897 seconds ×3 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856900 ms (missed cycles : 5). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856900 ms (missed cycles : 5).[0m ×2 + 10.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.58sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788546809.93226862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009535 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009535 ms (missed cycles : 3).[0m ×2 + 11.07sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904342 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904342 ms (missed cycles : 2).[0m ×2 + 12.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.97sWARNros2_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 + 12.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441262 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441262 ms (missed cycles : 3).[0m ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 69 warnings · 138 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346279 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346279 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518479 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518479 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.18sWARNros2_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 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241748 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241748 ms (missed cycles : 2).[0m ×2 + 2.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788546968.75684285 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.47sWARNlocal_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 + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.77sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.81sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788546969.33050823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.359ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952044 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952044 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.18sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×6 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250672 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250672 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873913 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873913 ms (missed cycles : 2).[0m ×2 + 6.33sWARNros2_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 + 6.35sWARNros2_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 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 7.18sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 8.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 9.19sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 9.68sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 12.06sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 51 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2).[0m ×2 + 2.13sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546738.70007610 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546739.27289891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.85sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.85sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 7.14sWARNros2_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 + 7.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395870 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395870 ms (missed cycles : 4).[0m ×2 + 7.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391362 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391362 ms (missed cycles : 3).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 9.21sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788546744.83302331 seconds ×3 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500678 ms (missed cycles : 5). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500678 ms (missed cycles : 5).[0m ×2 + 9.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.75sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788546745.40655422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.02sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 2.234ms + 10.18sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868476 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868476 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603304 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603304 ms (missed cycles : 3).[0m ×2 + 12.20sWARNros2_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 + 12.23sWARNros2_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 + 12.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066018 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066018 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 29 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.270ms + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.104ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543105 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543105 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.045ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.466ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547048.86958623 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547049.47837567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.939ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547050.30851626 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547050.88296056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547051.59307909 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221569 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221569 ms (missed cycles : 2).[0m ×2 + 7.30sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.32sWARNros2_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 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493078 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493078 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 33 warnings · 69 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_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 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_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 + 5.23sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 307 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.57sINFOmove_groupClearing octomap...[0m ×2 + 0.57sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 1.98sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_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 + 2.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 2.54sWARNros2_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 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal + 4.47sINFOjoint_trajectory_controllerAccepted new action goal + 4.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 25 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2).[0m ×2 + 2.13sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546738.70007610 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546739.27289891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOjoint_trajectory_controllerReceived new action goal + 4.85sINFOjoint_trajectory_controllerAccepted new action goal + 4.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 25 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396676 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619786 ms (missed cycles : 2).[0m ×2 + 2.13sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226079 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788546738.70007610 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792073 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788546739.27289891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716844 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.5775e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOjoint_trajectory_controllerReceived new action goal + 4.85sINFOjoint_trajectory_controllerAccepted new action goal + 4.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768984 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.76sINFOobjective_server_nodecaller: ×10 + 2.76sINFOobjective_server_nodetype: 0 ×10 + 2.76sINFOobjective_server_nodename: "" ×10 + 2.76sINFOobjective_server_nodeinstance_id: "" ×10 + 2.76sINFOobjective_server_node ×10 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.80sINFOmove_groupClearing octomap...[0m ×2 + 2.80sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 4.77sWARNros2_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 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 29 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991766 ms (missed cycles : 2).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 0.62sWARNros2_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 + 0.64sWARNros2_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 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395870 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395870 ms (missed cycles : 4).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391362 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391362 ms (missed cycles : 3).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788546744.83302331 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500678 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500678 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788546745.40655422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 2.234ms + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868476 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868476 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603304 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603304 ms (missed cycles : 3).[0m ×2 + 5.69sWARNros2_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 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066018 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546801.98670816 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.86sWARNros2_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 + 2.88sWARNros2_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 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546802.57636976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.038ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546801.98670816 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.86sWARNros2_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 + 2.88sWARNros2_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 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546802.57636976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.038ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546801.98670816 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.86sWARNros2_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 + 2.88sWARNros2_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 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546802.57636976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.038ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546801.98670816 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.86sWARNros2_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 + 2.88sWARNros2_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 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546802.57636976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.038ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035342 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736931 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970981 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788546801.98670816 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.86sWARNros2_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 + 2.88sWARNros2_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 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328635 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788546802.57636976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.038ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125952 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667399 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 38 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 1.17sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546841.11241078 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 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_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 + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 `Plan Path Along Surface` starting at time: 1788546841.70187759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.551ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 38 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 1.17sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546841.11241078 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 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_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 + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 `Plan Path Along Surface` starting at time: 1788546841.70187759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.551ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 38 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921465 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 1.17sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397671 ms (missed cycles : 3).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648294 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788546841.11241078 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 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_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 + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 `Plan Path Along Surface` starting at time: 1788546841.70187759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.551ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071658 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975919 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615144 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.76sINFOobjective_server_nodecaller: ×10 + 2.76sINFOobjective_server_nodetype: 0 ×10 + 2.76sINFOobjective_server_nodename: "" ×10 + 2.76sINFOobjective_server_nodeinstance_id: "" ×10 + 2.76sINFOobjective_server_node ×10 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.80sINFOmove_groupClearing octomap...[0m ×2 + 2.80sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 4.77sWARNros2_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 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 33 warnings · 69 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_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 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_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 + 5.23sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.76sINFOobjective_server_nodecaller: ×10 + 2.76sINFOobjective_server_nodetype: 0 ×10 + 2.76sINFOobjective_server_nodename: "" ×10 + 2.76sINFOobjective_server_nodeinstance_id: "" ×10 + 2.76sINFOobjective_server_node ×10 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.80sINFOmove_groupClearing octomap...[0m ×2 + 2.80sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 4.77sWARNros2_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 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 33 warnings · 69 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_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 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_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 + 5.23sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 33 warnings · 69 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_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 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_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 + 5.23sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 33 warnings · 69 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_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 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_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 + 5.23sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 33 warnings · 69 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_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 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_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 + 5.23sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 33 warnings · 69 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-1.72, -3.41) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.14sWARNros2_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 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103850 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-1.71, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002715 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226923 ms (missed cycles : 2).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788546975.21062779 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-1.70, -3.40) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788546975.78938079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572223 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510192 ms (missed cycles : 5).[0m ×2 + 5.21sWARNros2_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 + 5.23sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270889 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 20 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.270ms + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.104ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543105 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543105 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.045ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798898 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.466ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788547048.86958623 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250650 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788547049.47837567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.939ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764432 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788547050.30851626 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788547050.88296056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978498 ms (missed cycles : 2).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788547051.59307909 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221569 ms (missed cycles : 2). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.97sWARNros2_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 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 7.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.76sINFOobjective_server_nodecaller: ×10 + 2.76sINFOobjective_server_nodetype: 0 ×10 + 2.76sINFOobjective_server_nodename: "" ×10 + 2.76sINFOobjective_server_nodeinstance_id: "" ×10 + 2.76sINFOobjective_server_node ×10 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.80sINFOmove_groupClearing octomap...[0m ×2 + 2.80sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 4.77sWARNros2_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 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 6.70sINFOjoint_trajectory_controllerReceived new action goal + 6.70sINFOjoint_trajectory_controllerAccepted new action goal + 6.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 24 warnings · 300 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 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 ×4 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.97sWARNros2_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 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.76sINFOobjective_server_nodecaller: ×10 + 2.76sINFOobjective_server_nodetype: 0 ×10 + 2.76sINFOobjective_server_nodename: "" ×10 + 2.76sINFOobjective_server_nodeinstance_id: "" ×10 + 2.76sINFOobjective_server_node ×10 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.80sINFOmove_groupClearing octomap...[0m ×2 + 2.80sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 4.77sWARNros2_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 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.76sINFOobjective_server_nodecaller: ×10 + 2.76sINFOobjective_server_nodetype: 0 ×10 + 2.76sINFOobjective_server_nodename: "" ×10 + 2.76sINFOobjective_server_nodeinstance_id: "" ×10 + 2.76sINFOobjective_server_node ×10 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.80sINFOmove_groupClearing octomap...[0m ×2 + 2.80sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 4.77sWARNros2_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 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211004 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.76sINFOobjective_server_nodecaller: ×10 + 2.76sINFOobjective_server_nodetype: 0 ×10 + 2.76sINFOobjective_server_nodename: "" ×10 + 2.76sINFOobjective_server_nodeinstance_id: "" ×10 + 2.76sINFOobjective_server_node ×10 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.80sINFOmove_groupClearing octomap...[0m ×2 + 2.80sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 4.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 4.77sWARNros2_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 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304610 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058761 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.63sINFOobjective_server_nodecaller: ×10 + 1.63sINFOobjective_server_nodetype: 0 ×10 + 1.63sINFOobjective_server_nodename: "" ×10 + 1.63sINFOobjective_server_nodeinstance_id: "" ×10 + 1.63sINFOobjective_server_node ×10 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546693.09180999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546693.10203719 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142835 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546693.67426324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546693.68438888 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546694.25062609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546694.40116096 seconds ×3 + 3.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546694.99154210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546695.05166674 seconds ×3 + 3.64sWARNros2_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 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788546695.62799215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929104 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038659 ms (missed cycles : 3).[0m ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471450 ms (missed cycles : 2).[0m ×2 | ||||