73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.2s | 12 errors · 321 warnings · 1517 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-19-22-06-867038-35af532e0530-7579 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.32sINFOstatic_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' + 4.32sINFOstatic_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' + 4.33sINFOstatic_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' + 4.35sINFOstatic_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' + 4.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.60sINFOcontroller_managerupdate rate is 600 Hz + 4.60sINFOcontroller_managerOverruns handling is : enabled + 4.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.60sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.62sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395509 ms (missed cycles : 4). + 4.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.68sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.68sINFOros2_control_node-12process started with pid [7721] ×2 + 4.68sINFOmove_group-24process started with pid [7741] ×2 + 4.69sINFOcontroller_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. + 4.70sINFOparameter_manager_node-25process started with pid [7784] ×2 + 4.70sINFOwaypoint_manager_node-26process started with pid [7785] ×2 + 4.70sINFOmove_joint_resampler_node-27process started with pid [7786] ×2 + 4.70sINFOmove_end_effector_resampler_node-28process started with pid [7788] ×2 + 4.70sINFOobjective_server_node_main-29process started with pid [7789] ×2 + 4.70sINFOcomponent_container_mt-30process started with pid [7809] ×2 + 4.70sINFOcomponent_container_mt-31process started with pid [7810] ×2 + 4.70sINFOexecute_objective_bridge-32process started with pid [7811] ×2 + 4.70sINFOui_teleop_bridge-33process started with pid [7818] ×2 + 4.70sINFOweb_bridge-34process started with pid [7825] ×2 + 4.70sINFOtf2_web_republisher_node-35process started with pid [7826] ×2 + 4.70sINFOvideo_server-36process started with pid [7834] ×2 + 4.70sINFOweb_bridge_auth_proxy-37process started with pid [7835] ×2 + 4.70sINFOweb_video_auth_proxy-38process started with pid [7836] ×2 + 4.70sINFOcomponent_container_isolated-1process started with pid [7629] ×2 + 4.70sINFOcomponent_container_isolated-2process started with pid [7630] ×2 + 4.70sINFOstatic_transform_publisher-3process started with pid [7631] ×2 + 4.70sINFOstatic_transform_publisher-4process started with pid [7632] ×2 + 4.70sINFOodom_qos_relay.py-5process started with pid [7633] ×2 + 4.70sINFOforward_stereo_publisher.py-6process started with pid [7634] ×2 + 4.70sINFOlidar_flattener.py-7process started with pid [7635] ×2 + 4.70sINFOstatic_transform_publisher-8process started with pid [7636] ×2 + 4.70sINFOstatic_transform_publisher-9process started with pid [7637] ×2 + 4.70sINFOscan_to_scan_filter_chain-10process started with pid [7719] ×2 + 4.70sINFOscan_to_scan_filter_chain-11process started with pid [7720] ×2 + 4.70sINFOros2-13process started with pid [7722] ×2 + 4.70sINFOros2-14process started with pid [7723] ×2 + 4.70sINFOros2-15process started with pid [7724] ×2 + 4.70sINFOros2-16process started with pid [7725] ×2 + 4.70sINFOros2-17process started with pid [7726] ×2 + 4.70sINFOros2-18process started with pid [7729] ×2 + 4.70sINFOros2-19process started with pid [7732] ×2 + 4.70sINFOros2-20process started with pid [7733] ×2 + 4.70sINFOros2-21process started with pid [7734] ×2 + 4.70sINFOros2-22process started with pid [7737] ×2 + 4.70sINFOros2-23process started with pid [7740] ×2 + 4.75sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.75sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.75sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.75sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.75sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.75sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.75sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.75sWARNros2_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 + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395509 ms (missed cycles : 4).[0m ×2 + 4.77sINFOcontroller_serverCreating controller server + 4.82sINFOlocal_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. + 4.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.82sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.82sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.84sINFOlocal_costmap.local_costmapCreating Costmap + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.90sINFOmap_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. + 4.90sINFOmap_serverCreating + 4.90sINFOsmoother_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. + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.92sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.93sINFOsmoother_serverCreating smoother server + 4.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.95sINFOrobot_state_publisherRobot initialized + 4.95sINFOcontroller_managerReceived robot description from topic. + 4.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.95sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.99sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.99sINFOplanner_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. + 5.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.02sINFOplanner_serverCreating + 5.03sINFOlifecycle_manager_localizationCreating + 5.06sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.06sINFOglobal_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. + 5.07sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.07sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.07sINFOmap_serverConfiguring + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.10sINFOglobal_costmap.global_costmapCreating Costmap + 5.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.17sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.19sINFObehavior_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. + 5.20sINFOvideo_server2026/09/04 19:22:13 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.21sINFOvideo_server2026/09/04 19:22:13 INF configuration loaded from /tmp/moveit-webrtc-p8_t0dh6/mediamtx.yml ×2 + 5.21sINFOvideo_server2026/09/04 19:22:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.23sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.23sINFOamclConfiguring + 5.23sINFOvideo_server2026/09/04 19:22:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.26sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.27sINFOmap_serverActivating + 5.27sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.27sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.27sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.28sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.29sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.30sINFObt_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. + 5.33sINFObt_navigatorCreating + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.37sINFOwaypoint_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. + 5.38sINFOwaypoint_followerCreating + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.40sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.40sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.40sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.40sINFOamclActivating + 5.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.41sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.41sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.41sINFOamclSubscribed to map_topic: /map + 5.41sINFOamclSubscribed to scan_topic: /scan_merged + 5.41sINFOamclCreated reinitialize_global_localization service + 5.41sINFOamclCreated request_nomotion_update service + 5.44sINFOamclA new map was received + 5.44sINFOamclInitializing particle filter instance + 5.45sINFOvelocity_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. + 5.46sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.321111 seconds + 5.46sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.46sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.46sINFOmove_groupLoaded robot model in 0.321111 seconds[0m ×2 + 5.46sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.46sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.50sWARNlaser_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. + 5.50sWARNscan_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 + 5.52sWARNlaser_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. + 5.55sINFOlifecycle_manager_navigationCreating + 5.57sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.60sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.60sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.60sINFOcontroller_serverConfiguring controller interface + 5.61sINFOcontroller_servergetting progress checker plugins.. + 5.61sINFOcontroller_servergetting goal checker plugins.. + 5.61sINFOcontroller_serverController frequency set to 20.0000Hz + 5.61sINFOlocal_costmap.local_costmapConfiguring + 5.62sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.63sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.68sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579316 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579316 ms (missed cycles : 2).[0m ×2 + 5.72sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.72sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.73sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.77sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.77sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.77sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.77sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.78sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.85sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.85sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.85sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.86sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.88sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.88sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.88sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.88sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.89sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.89sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.90sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.91sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.91sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.91sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.91sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.92sINFOcontroller_serverOptimizer reset ×2 + 5.93sINFOcontroller_serverController Server has FollowPath controllers available. + 5.95sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.96sINFOsmoother_serverConfiguring smoother server + 5.96sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.98sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.99sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.99sINFOplanner_serverConfiguring + 5.99sINFOglobal_costmap.global_costmapConfiguring + 6.01sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.02sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.02sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.02sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.02sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.06sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.06sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.06sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.09sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.09sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.09sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.10sINFOplanner_serverPlanner Server has GridBased planners available. + 6.12sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.12sINFObehavior_serverConfiguring + 6.13sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.14sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.14sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.14sINFOamclParticle filter initialization completed + 6.15sINFOamclInitializing particles from estimated pose and covariance + 6.15sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.15sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.15sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.15sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.15sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.15sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.16sINFObehavior_serverConfiguring spin + 6.18sINFObehavior_serverConfiguring backup + 6.19sINFObehavior_serverConfiguring drive_on_heading + 6.20sINFObehavior_serverConfiguring assisted_teleop + 6.21sINFObehavior_serverConfiguring wait + 6.22sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.22sINFObt_navigatorConfiguring + 6.23sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.23sWARNbt_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 + 6.36sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.41sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.41sINFOwaypoint_followerConfiguring + 6.44sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.44sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.44sINFOvelocity_smootherConfiguring velocity smoother + 6.45sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.45sINFOcontroller_serverActivating + 6.45sINFOlocal_costmap.local_costmapActivating + 6.45sINFOlocal_costmap.local_costmapChecking transform + 6.45sINFOlocal_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. ×3 + 6.45sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.45sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.45sWARNmove_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. + 6.45sWARNmove_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 + 6.45sWARNmove_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. + 6.45sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.46sWARNmove_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. + 6.46sWARNmove_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 + 6.58sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.58sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.58sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.58sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.61sINFOros2_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 + 6.61sINFOros2_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 + 6.72sINFOwaypoint_manager_nodeLoaded robot model in 0.433685 seconds[0m ×2 + 6.72sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.72sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.77sINFOmove_group[2026-09-04 19:22:15.317] [moveit_pro_license] [info] ×2 + 6.77sINFOmove_group************************************************* ×4 + 6.77sINFOmove_group* MoveIt Pro License ×2 + 6.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736661 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736661 ms (missed cycles : 3).[0m ×2 + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.23sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.23sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.23sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.23sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.23sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.23sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.23sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.23sWARNwaypoint_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. + 7.23sWARNwaypoint_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 + 7.23sWARNwaypoint_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. + 7.24sWARNwaypoint_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. + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.24sWARNwaypoint_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. + 7.24sWARNwaypoint_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. + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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. + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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. + 7.24sWARNwaypoint_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. + 7.24sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.24sWARNwaypoint_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. + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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. + 7.24sWARNwaypoint_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 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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. + 7.24sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.24sWARNwaypoint_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 + 7.24sWARNwaypoint_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. + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.24sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.25sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.25sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.25sWARNwaypoint_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. + 7.25sWARNwaypoint_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 + 7.26sWARNwaypoint_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. + 7.26sWARNwaypoint_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. + 7.26sWARNwaypoint_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 + 7.26sWARNwaypoint_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. + 7.26sWARNwaypoint_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. + 7.26sWARNwaypoint_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 + 7.26sWARNwaypoint_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 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.45sINFOwaypoint_manager_node[2026-09-04 19:22:16.007] [moveit_pro_license] [info] ×2 + 7.45sINFOwaypoint_manager_node************************************************* ×4 + 7.45sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.45sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.50sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.50sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.50sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.50sWARNros2_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 + 7.50sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.50sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.50sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.50sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.50sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.50sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.50sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.50sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.50sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.50sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.50sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.50sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.50sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.50sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.50sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.51sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 7.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 7.68sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.68sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.69sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.69sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.74sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.76sINFOros2_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 + 7.76sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.76sWARNros2_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 + 7.83sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.83sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788419 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788419 ms (missed cycles : 2).[0m ×2 + 7.84sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.95sINFOlocal_costmap.local_costmapstart + 8.01sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.01sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.01sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.01sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.03sINFOobjective_server_node[2026-09-04 19:22:16.585] [moveit_pro_license] [info] ×2 + 8.03sINFOobjective_server_node************************************************* ×4 + 8.03sINFOobjective_server_node* MoveIt Pro License ×2 + 8.03sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.06sWARNcontroller_serverParameter controller_server.verbose not found + 8.06sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.06sINFOros2-15process has finished cleanly [pid 7724] ×2 + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.13sINFOobjective_server_nodeLoaded robot model in 0.0429895 seconds[0m ×2 + 8.13sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.13sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 8.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 8.17sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 8.17sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 8.17sINFOsmoother_serverActivating + 8.17sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.19sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.19sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.21sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.21sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.21sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.22sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.22sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.22sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.22sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.22sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.22sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.22sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.22sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.22sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.22sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.22sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.22sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.22sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.22sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.22sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.28sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.28sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.28sINFOplanner_serverActivating + 8.28sINFOglobal_costmap.global_costmapActivating + 8.28sINFOglobal_costmap.global_costmapChecking transform + 8.28sINFOglobal_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. ×4 + 8.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.31sWARNcomponent_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 + 8.42sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.42sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.44sINFOstreaming_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) + 8.44sINFOcomponent_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 + 8.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.68sINFOcomponent_container_mtLoaded robot model in 0.366933 seconds[0m ×2 + 8.68sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.68sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.70sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.71sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.71sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.77sINFOros2_control_node[2026-09-04 19:22:17.327] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.78sINFOros2_control_node[2026-09-04 19:22:17.329] [info] Controller state will be published at 10 Hz. ×2 + 8.78sINFOros2_control_node[2026-09-04 19:22:17.331] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.80sINFOobjective_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 + 8.81sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.83sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919603 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919603 ms (missed cycles : 2).[0m ×2 + 9.01sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.01sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.11sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 9.11sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 9.18sINFOros2-21process has finished cleanly [pid 7734] ×2 + 9.18sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sINFOplatform_velocity_controller_nav2configure successful + 9.21sINFOros2_control_nodeconfigure successful[0m ×6 + 9.38sINFOcomponent_container_mt[2026-09-04 19:22:17.934] [moveit_pro_license] [info] ×2 + 9.38sINFOcomponent_container_mt************************************************* ×4 + 9.38sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.38sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.42sINFOmove_groupMoveGroup debug mode is ON + 9.42sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.42sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.46sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.46sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.46sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.46sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.47sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 9.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.49sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.52sINFOros2-18process has finished cleanly [pid 7729] ×2 + 9.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.53sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.59sINFOmove_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
********************************************************
+ 9.60sINFOmove_group ×8 + 9.60sINFOmove_group******************************************************** ×4 + 9.60sINFOmove_group* MoveGroup using: ×2 + 9.60sINFOmove_group* - apply_planning_scene_service ×2 + 9.60sINFOmove_group* - clear_octomap_service ×2 + 9.60sINFOmove_group* - get_group_urdf ×2 + 9.60sINFOmove_group* - load_geometry_from_file ×2 + 9.60sINFOmove_group* - get_planning_scene_service ×2 + 9.60sINFOmove_group* - kinematics_service ×2 + 9.60sINFOmove_group* - save_geometry_to_file ×2 + 9.60sINFOmove_group* - GetPlanningGroups ×2 + 9.60sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.60sINFOmove_group[0m ×2 + 9.60sINFOmove_group[92mYou can start planning now![0m ×2 + 9.81sWARNros2_control_nodeCamera render tick took 1.09 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.81sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.82sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.85sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.85sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.85sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.85sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 7.310ms + 9.90sINFOros2-14process has finished cleanly [pid 7723] ×2 + 9.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.91sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.91sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.91sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 9.91sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.91sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316284 ms (missed cycles : 4). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316284 ms (missed cycles : 4).[0m ×2 + 9.96sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.96sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.96sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.96sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.28sINFOglobal_costmap.global_costmapstart + 10.37sINFOros2_control_node[2026-09-04 19:22:18.922] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.37sINFOros2_control_node[2026-09-04 19:22:18.924] [info] Controller state will be published at 10 Hz. ×2 + 10.37sINFOros2_control_node[2026-09-04 19:22:18.925] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 10.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.73sINFOros2-20process has finished cleanly [pid 7733] ×2 + 10.75sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 10.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 10.80sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.80sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.80sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.80sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577635 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577635 ms (missed cycles : 3).[0m ×2 + 11.03sWARNobjective_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 + 11.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.25sINFOros2_control_node[2026-09-04 19:22:19.804] [info] Controller state will be published at 20 Hz. ×2 + 11.25sINFOros2_control_node[2026-09-04 19:22:19.805] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.33sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.34sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.44sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.44sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.44sINFObehavior_serverActivating + 11.44sINFObehavior_serverActivating spin + 11.44sINFObehavior_serverActivating backup + 11.44sINFObehavior_serverActivating drive_on_heading + 11.44sINFObehavior_serverActivating assisted_teleop + 11.44sINFObehavior_serverActivating wait + 11.44sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.55sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.55sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.55sINFObt_navigatorActivating + 11.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.57sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 11.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 11.63sINFOros2-22process has finished cleanly [pid 7737] ×2 + 11.64sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.69sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.69sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.69sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.69sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.69sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.69sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.69sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.70sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.75sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.75sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.75sINFOwaypoint_followerActivating + 11.75sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.85sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.85sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.85sINFOvelocity_smootherActivating + 11.85sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.96sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.96sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.96sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.96sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 11.96sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.96sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 11.96sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.96sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.96sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211233 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211233 ms (missed cycles : 2).[0m ×2 + 11.99sINFOros2-19process has finished cleanly [pid 7732] ×2 + 12.02sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.02sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.48sINFOros2_control_node[2026-09-04 19:22:21.030] [info] Controller state will be published at 20 Hz. ×2 + 12.48sINFOros2_control_node[2026-09-04 19:22:21.031] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.80sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 12.80sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 12.84sINFOros2-23process has finished cleanly [pid 7740] ×2 + 12.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.87sINFOforce_torque_sensor_broadcasterconfigure successful + 12.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628670 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628670 ms (missed cycles : 3).[0m ×2 + 13.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 13.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 13.23sINFOros2-13process has finished cleanly [pid 7722] ×2 + 13.28sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.28sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.28sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.28sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.29sINFOplatform_velocity_controllerconfigure successful + 13.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.29sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.29sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.65sINFOros2-16process has finished cleanly [pid 7725] ×2 + 13.66sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.66sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.66sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.66sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.67sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt + 13.67sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_09ft6iv4 --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_e472v2v1 --params-file /tmp/launch_params_pgbzfunt [0m ×2 + 13.69sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.69sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.72sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.72sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.74sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.74sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.74sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.75sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.75sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.95sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.07sINFOros2-17process has finished cleanly [pid 7726] ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101761 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101761 ms (missed cycles : 2).[0m ×2 + 15.34sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156321 ms (missed cycles : 3). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156321 ms (missed cycles : 3).[0m ×2 + 15.97sWARNros2_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 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 17.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 19.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.07sINFOobjective_server_nodecaller: ×10 + 19.07sINFOobjective_server_nodetype: 0 ×10 + 19.07sINFOobjective_server_nodename: "" ×10 + 19.07sINFOobjective_server_nodeinstance_id: "" ×10 + 19.07sINFOobjective_server_node ×10 + 19.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.12sINFOmove_groupClearing octomap...[0m ×2 + 19.12sINFOmove_groupOctomap cleared.[0m ×2 + 19.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 19.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 20.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.34sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 21.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 21.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 21.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 21.50sWARNros2_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 + 21.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 64.7s | 3 errors · 290 warnings · 253 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.945ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701944 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701944 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.206ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.485ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118331 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118331 ms (missed cycles : 3).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.569ms + 2.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.325ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906681 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906681 ms (missed cycles : 3).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 3.14sINFOobjective_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 + 3.15sINFOjoint_trajectory_controllerGot request to cancel goal + 3.15sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.15sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1788549959.42968774 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_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 + 3.56sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788549960.00843239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466108 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466108 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.191ms + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569269 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569269 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869769 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869769 ms (missed cycles : 2).[0m ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.40sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.40sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960378 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960378 ms (missed cycles : 3).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700633 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700633 ms (missed cycles : 2).[0m ×2 + 8.64sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.858ms + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266536 ms (missed cycles : 4). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266536 ms (missed cycles : 4).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.048ms + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922283 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922283 ms (missed cycles : 3).[0m ×2 + 10.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.193ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.540ms + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027493 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027493 ms (missed cycles : 3).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 12.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.554ms + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794618 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794618 ms (missed cycles : 3).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 7.375ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600661 ms (missed cycles : 3). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600661 ms (missed cycles : 3).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 5.558ms + 13.95sWARNros2_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 + 13.99sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 5.618ms + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874806 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874806 ms (missed cycles : 2).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 3.968ms + 15.17sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 2.632ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644202 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644202 ms (missed cycles : 3).[0m ×2 + 15.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524099 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524099 ms (missed cycles : 2).[0m ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722873 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722873 ms (missed cycles : 2).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673195 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673195 ms (missed cycles : 2).[0m ×2 + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867505 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867505 ms (missed cycles : 2).[0m ×2 + 19.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960439 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960439 ms (missed cycles : 2).[0m ×2 + 21.18sWARNros2_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 ×8 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379797 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379797 ms (missed cycles : 3).[0m ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms ×2 + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215555 ms (missed cycles : 2). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215555 ms (missed cycles : 2).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878984 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878984 ms (missed cycles : 2).[0m ×2 + 24.87sWARNros2_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 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547690 ms (missed cycles : 2). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547690 ms (missed cycles : 2).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.096ms + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904289 ms (missed cycles : 3). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904289 ms (missed cycles : 3).[0m ×2 + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523783 ms (missed cycles : 3). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523783 ms (missed cycles : 3).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631677 ms (missed cycles : 4). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631677 ms (missed cycles : 4).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.748ms + 29.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588867 ms (missed cycles : 3). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588867 ms (missed cycles : 3).[0m ×2 + 30.43sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200650 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200650 ms (missed cycles : 2).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685624 ms (missed cycles : 5). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685624 ms (missed cycles : 5).[0m ×2 + 32.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.69 s); lidar_front (0.69 s); lidar_rear (0.69 s); wrist_camera (0.69 s). The render path has stopped producing new frames for them.[0m ×2 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298687 ms (missed cycles : 5). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298687 ms (missed cycles : 5).[0m ×2 + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802077 ms (missed cycles : 3). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802077 ms (missed cycles : 3).[0m ×2 + 34.77sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.77sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.659ms + 35.06sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785399 ms (missed cycles : 3). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785399 ms (missed cycles : 3).[0m ×2 + 35.49sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 36.25sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413947 ms (missed cycles : 4). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413947 ms (missed cycles : 4).[0m ×2 + 37.43sWARNros2_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 ×8 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940374 ms (missed cycles : 3). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940374 ms (missed cycles : 3).[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044583 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044583 ms (missed cycles : 2).[0m ×2 + 39.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.734ms + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543414 ms (missed cycles : 3). + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543414 ms (missed cycles : 3).[0m ×2 + 39.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 40.51sWARNros2_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 ×4 + 40.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665789 ms (missed cycles : 3). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665789 ms (missed cycles : 3).[0m ×2 + 41.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587686 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587686 ms (missed cycles : 3).[0m ×2 + 42.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137082 ms (missed cycles : 5). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137082 ms (missed cycles : 5).[0m ×2 + 43.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945345 ms (missed cycles : 5). + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945345 ms (missed cycles : 5).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901746 ms (missed cycles : 3). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901746 ms (missed cycles : 3).[0m ×2 + 45.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307939 ms (missed cycles : 2). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307939 ms (missed cycles : 2).[0m ×2 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233486 ms (missed cycles : 2). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233486 ms (missed cycles : 2).[0m ×2 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323401 ms (missed cycles : 3). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323401 ms (missed cycles : 3).[0m ×2 + 48.47sWARNros2_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 + 48.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971162 ms (missed cycles : 2). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971162 ms (missed cycles : 2).[0m ×2 + 50.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705957 ms (missed cycles : 2). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705957 ms (missed cycles : 2).[0m ×2 + 50.39sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 50.95sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829153 ms (missed cycles : 5). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829153 ms (missed cycles : 5).[0m ×2 + 52.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923986 ms (missed cycles : 2). + 52.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923986 ms (missed cycles : 2).[0m ×2 + 53.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280168 ms (missed cycles : 4). + 53.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280168 ms (missed cycles : 4).[0m ×2 + 54.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240733 ms (missed cycles : 5). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240733 ms (missed cycles : 5).[0m ×2 + 55.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234449 ms (missed cycles : 3). + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234449 ms (missed cycles : 3).[0m ×2 + 56.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 56.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128659 ms (missed cycles : 4). + 56.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128659 ms (missed cycles : 4).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122460 ms (missed cycles : 2). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122460 ms (missed cycles : 2).[0m ×2 + 57.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378628 ms (missed cycles : 4). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378628 ms (missed cycles : 4).[0m ×2 + 60.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964579 ms (missed cycles : 3). + 60.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964579 ms (missed cycles : 3).[0m ×2 + 61.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389626 ms (missed cycles : 3). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389626 ms (missed cycles : 3).[0m ×2 + 62.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674234 ms (missed cycles : 4). + 62.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674234 ms (missed cycles : 4).[0m ×2 + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227104 ms (missed cycles : 3). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227104 ms (missed cycles : 3).[0m ×2 + 63.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 64.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891122 ms (missed cycles : 3). + 64.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891122 ms (missed cycles : 3).[0m ×2 + 65.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464509 ms (missed cycles : 3). + 65.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464509 ms (missed cycles : 3).[0m ×2 + 65.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 66.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.758ms + 66.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899731 ms (missed cycles : 3). + 66.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899731 ms (missed cycles : 3).[0m ×2 + 67.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124875 ms (missed cycles : 2). + 67.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124875 ms (missed cycles : 2).[0m ×2 + 67.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 67.92sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788550024.15859437 seconds ×3 + 68.07sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.07sWARNlocal_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. ×4 + 68.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788550024.73054123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335504 ms (missed cycles : 4). + 68.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335504 ms (missed cycles : 4).[0m ×2 + 69.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.058ms + 69.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110648 ms (missed cycles : 3). + 69.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110648 ms (missed cycles : 3).[0m ×2 + 70.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872650 ms (missed cycles : 2). + 70.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872650 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 242 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.55sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 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 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.93sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.93sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851507 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851507 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109524 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109524 ms (missed cycles : 4).[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.310ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478544 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478544 ms (missed cycles : 4).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.437ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149629 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149629 ms (missed cycles : 2).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.348ms + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.597ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192333 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192333 ms (missed cycles : 2).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.886ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672912 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672912 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.967ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.910ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994512 ms (missed cycles : 5). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994512 ms (missed cycles : 5).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.483ms + 13.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×8 + 13.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.707ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119653 ms (missed cycles : 3). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119653 ms (missed cycles : 3).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.907ms + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176365 ms (missed cycles : 4). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176365 ms (missed cycles : 4).[0m ×2 + 14.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.583ms + 15.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021032 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021032 ms (missed cycles : 2).[0m ×2 + 15.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.065ms + 16.49sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 16.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.341ms + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734351 ms (missed cycles : 3). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734351 ms (missed cycles : 3).[0m ×2 + 17.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.170ms + 17.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.856ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494650 ms (missed cycles : 3). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494650 ms (missed cycles : 3).[0m ×2 + 18.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.927ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384627 ms (missed cycles : 2). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384627 ms (missed cycles : 2).[0m ×2 + 18.94sWARNros2_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 ×6 + 18.96sINFOamclParticle filter update iteration stats: 4549 particles 723 points - 8.202ms + 19.56sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 7.284ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.518861 ms (missed cycles : 6). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.518861 ms (missed cycles : 6).[0m ×2 + 20.15sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 6.288ms + 20.79sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 5.347ms + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744386 ms (missed cycles : 3). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744386 ms (missed cycles : 3).[0m ×2 + 21.39sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 4.243ms + 21.98sWARNros2_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 + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.543ms + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284007 ms (missed cycles : 2). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284007 ms (missed cycles : 2).[0m ×2 + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449291 ms (missed cycles : 3). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449291 ms (missed cycles : 3).[0m ×2 + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773488 ms (missed cycles : 3). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773488 ms (missed cycles : 3).[0m ×2 + 24.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 25.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029207 ms (missed cycles : 2). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029207 ms (missed cycles : 2).[0m ×2 + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177842 ms (missed cycles : 3). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177842 ms (missed cycles : 3).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322249 ms (missed cycles : 3). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322249 ms (missed cycles : 3).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850251 ms (missed cycles : 4). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850251 ms (missed cycles : 4).[0m ×2 + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 29.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436584 ms (missed cycles : 4). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436584 ms (missed cycles : 4).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794236 ms (missed cycles : 3). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794236 ms (missed cycles : 3).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844308 ms (missed cycles : 3). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844308 ms (missed cycles : 3).[0m ×2 + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.020ms + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916131 ms (missed cycles : 2). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916131 ms (missed cycles : 2).[0m ×2 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135144 ms (missed cycles : 3). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135144 ms (missed cycles : 3).[0m ×2 + 34.35sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180370 ms (missed cycles : 3). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180370 ms (missed cycles : 3).[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962995 ms (missed cycles : 5). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962995 ms (missed cycles : 5).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786161 ms (missed cycles : 5). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786161 ms (missed cycles : 5).[0m ×2 + 38.11sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 38.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725589 ms (missed cycles : 3). + 38.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725589 ms (missed cycles : 3).[0m ×2 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726492 ms (missed cycles : 3). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726492 ms (missed cycles : 3).[0m ×2 + 40.06sWARNros2_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 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741560 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741560 ms (missed cycles : 3).[0m ×2 + 41.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044336 ms (missed cycles : 4). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044336 ms (missed cycles : 4).[0m ×2 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827050 ms (missed cycles : 5). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827050 ms (missed cycles : 5).[0m ×2 + 43.19sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311545 ms (missed cycles : 2). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311545 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529073 ms (missed cycles : 2). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529073 ms (missed cycles : 2).[0m ×2 + 45.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026566 ms (missed cycles : 3). + 45.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026566 ms (missed cycles : 3).[0m ×2 + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318313 ms (missed cycles : 2). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318313 ms (missed cycles : 2).[0m ×2 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634711 ms (missed cycles : 4). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634711 ms (missed cycles : 4).[0m ×2 + 48.82sWARNros2_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 + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686048 ms (missed cycles : 2). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686048 ms (missed cycles : 2).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887713 ms (missed cycles : 2). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887713 ms (missed cycles : 2).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 51.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326209 ms (missed cycles : 2). + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326209 ms (missed cycles : 2).[0m ×2 + 51.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252688 ms (missed cycles : 4). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252688 ms (missed cycles : 4).[0m ×2 + 53.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012838 ms (missed cycles : 3). + 53.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012838 ms (missed cycles : 3).[0m ×2 + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447313 ms (missed cycles : 5). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447313 ms (missed cycles : 5).[0m ×2 + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850332 ms (missed cycles : 3). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850332 ms (missed cycles : 3).[0m ×2 + 55.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236287 ms (missed cycles : 4). + 56.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236287 ms (missed cycles : 4).[0m ×2 + 57.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705617 ms (missed cycles : 4). + 57.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705617 ms (missed cycles : 4).[0m ×2 + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758989 ms (missed cycles : 2). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758989 ms (missed cycles : 2).[0m ×2 + 59.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 59.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788550087.99929428 seconds ×3 + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099017 ms (missed cycles : 2). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099017 ms (missed cycles : 2).[0m ×2 + 60.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.15sWARNlocal_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. ×6 + 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. ×6 + 60.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.48sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788550088.58625722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.991ms + 60.92sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814090 ms (missed cycles : 2). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814090 ms (missed cycles : 2).[0m ×2 + 61.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.27sWARNros2_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 + 62.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227011 ms (missed cycles : 2). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227011 ms (missed cycles : 2).[0m ×2 + 63.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081344 ms (missed cycles : 3). + 63.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081344 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 242 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3).[0m ×2 + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215434 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215434 ms (missed cycles : 4).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881563 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881563 ms (missed cycles : 3).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549799.38459754 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281988 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281988 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549799.96435022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.063ms + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095333 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095333 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765996 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765996 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833912 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833912 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888590 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888590 ms (missed cycles : 3).[0m ×2 + 8.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242140 ms (missed cycles : 4). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242140 ms (missed cycles : 4).[0m ×2 + 9.03sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.118ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 9.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453209 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453209 ms (missed cycles : 2).[0m ×2 + 10.13sWARNros2_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 + 10.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 10.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883033 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883033 ms (missed cycles : 2).[0m ×2 + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 11.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136018 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136018 ms (missed cycles : 2).[0m ×2 + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719141 ms (missed cycles : 3). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719141 ms (missed cycles : 3).[0m ×2 + 13.60sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488127 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488127 ms (missed cycles : 2).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 15.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753309 ms (missed cycles : 3). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753309 ms (missed cycles : 3).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961402 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961402 ms (missed cycles : 2).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910850 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910850 ms (missed cycles : 3).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068502 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068502 ms (missed cycles : 2).[0m ×2 + 18.99sWARNros2_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 + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879399 ms (missed cycles : 3). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879399 ms (missed cycles : 3).[0m ×2 + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 20.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456574 ms (missed cycles : 3). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456574 ms (missed cycles : 3).[0m ×2 + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365255 ms (missed cycles : 3). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365255 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773029 ms (missed cycles : 2). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773029 ms (missed cycles : 2).[0m ×2 + 23.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.364ms + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968686 ms (missed cycles : 2). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968686 ms (missed cycles : 2).[0m ×2 + 24.55sWARNros2_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 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875126 ms (missed cycles : 2). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875126 ms (missed cycles : 2).[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146271 ms (missed cycles : 2). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146271 ms (missed cycles : 2).[0m ×2 + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938806 ms (missed cycles : 2). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938806 ms (missed cycles : 2).[0m ×2 + 27.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148479 ms (missed cycles : 2). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148479 ms (missed cycles : 2).[0m ×2 + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909483 ms (missed cycles : 3). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909483 ms (missed cycles : 3).[0m ×2 + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645709 ms (missed cycles : 4). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645709 ms (missed cycles : 4).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218357 ms (missed cycles : 3). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218357 ms (missed cycles : 3).[0m ×2 + 31.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 32.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225363 ms (missed cycles : 3). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225363 ms (missed cycles : 3).[0m ×2 + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 33.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173175 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173175 ms (missed cycles : 2).[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197556 ms (missed cycles : 3). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197556 ms (missed cycles : 3).[0m ×2 + 34.97sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 35.64sWARNros2_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 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421655 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421655 ms (missed cycles : 2).[0m ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317765 ms (missed cycles : 2). + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317765 ms (missed cycles : 2).[0m ×2 + 37.53sWARNros2_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 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374969 ms (missed cycles : 3). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374969 ms (missed cycles : 3).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421517 ms (missed cycles : 4). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421517 ms (missed cycles : 4).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056170 ms (missed cycles : 3). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056170 ms (missed cycles : 3).[0m ×2 + 41.23sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 41.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075976 ms (missed cycles : 3). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075976 ms (missed cycles : 3).[0m ×2 + 41.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 42.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961227 ms (missed cycles : 2). + 42.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961227 ms (missed cycles : 2).[0m ×2 + 43.10sWARNros2_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 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736927 ms (missed cycles : 3). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736927 ms (missed cycles : 3).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842772 ms (missed cycles : 3). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842772 ms (missed cycles : 3).[0m ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942630 ms (missed cycles : 3). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942630 ms (missed cycles : 3).[0m ×2 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012730 ms (missed cycles : 2). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012730 ms (missed cycles : 2).[0m ×2 + 47.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488014 ms (missed cycles : 4). + 47.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488014 ms (missed cycles : 4).[0m ×2 + 48.65sWARNros2_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 + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699866 ms (missed cycles : 3). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699866 ms (missed cycles : 3).[0m ×2 + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807033 ms (missed cycles : 3). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807033 ms (missed cycles : 3).[0m ×2 + 50.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 50.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.206551 ms (missed cycles : 5). + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.206551 ms (missed cycles : 5).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512495 ms (missed cycles : 2). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512495 ms (missed cycles : 2).[0m ×2 + 52.30sWARNros2_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 + 52.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099098 ms (missed cycles : 4). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099098 ms (missed cycles : 4).[0m ×2 + 54.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184774 ms (missed cycles : 3). + 54.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184774 ms (missed cycles : 3).[0m ×2 + 55.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686502 ms (missed cycles : 3). + 55.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686502 ms (missed cycles : 3).[0m ×2 + 56.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 56.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002646 ms (missed cycles : 3). + 56.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002646 ms (missed cycles : 3).[0m ×2 + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421506 ms (missed cycles : 2). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421506 ms (missed cycles : 2).[0m ×2 + 58.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3). + 58.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3).[0m ×2 + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3).[0m ×2 + 60.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 60.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3). + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3).[0m ×2 + 60.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549856.69447970 seconds ×3 + 60.68sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.68sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.98sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.98sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549857.28165436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.163ms + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4). + 61.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4).[0m ×2 + 61.54sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 61.86sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3). + 62.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3).[0m ×2 + 63.10sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3). + 63.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.7s | 253 warnings · 219 info |
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.15sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549895.76517296 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5).[0m ×2 + 3.72sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549896.35115457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.200ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.61sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.61sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.61sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547720 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547720 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560996 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560996 ms (missed cycles : 3).[0m ×2 + 8.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.265ms + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110194 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110194 ms (missed cycles : 2).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.922ms + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800375 ms (missed cycles : 3). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800375 ms (missed cycles : 3).[0m ×2 + 10.26sWARNglobal_costmap.global_costmapSensor origin at (-3.78, -2.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.681ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836399 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836399 ms (missed cycles : 2).[0m ×2 + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.588ms + 11.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.027ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509472 ms (missed cycles : 4). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509472 ms (missed cycles : 4).[0m ×2 + 12.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.517ms + 13.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.481ms + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516956 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516956 ms (missed cycles : 3).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.121ms + 14.17sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.714ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035214 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035214 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.743ms + 15.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.798ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604968 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604968 ms (missed cycles : 2).[0m ×2 + 15.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×6 + 16.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.077ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971665 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971665 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.291ms + 17.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.353ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884502 ms (missed cycles : 4). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884502 ms (missed cycles : 4).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.742ms + 18.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.768ms + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519457 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519457 ms (missed cycles : 3).[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.791ms + 19.60sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.64sINFOamclParticle filter update iteration stats: 4880 particles 723 points - 8.589ms + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062244 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062244 ms (missed cycles : 2).[0m ×2 + 20.26sINFOamclParticle filter update iteration stats: 4135 particles 723 points - 7.976ms + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117187 ms (missed cycles : 5). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117187 ms (missed cycles : 5).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 6.434ms + 21.45sINFOamclParticle filter update iteration stats: 2565 particles 723 points - 5.131ms + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726346 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726346 ms (missed cycles : 3).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 3.736ms + 22.69sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 4.726ms + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097285 ms (missed cycles : 4). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097285 ms (missed cycles : 4).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.009ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918611 ms (missed cycles : 5). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918611 ms (missed cycles : 5).[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683444 ms (missed cycles : 5). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683444 ms (missed cycles : 5).[0m ×2 + 25.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms ×2 + 25.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631769 ms (missed cycles : 4). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631769 ms (missed cycles : 4).[0m ×2 + 26.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546097 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546097 ms (missed cycles : 3).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216691 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216691 ms (missed cycles : 3).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.875574 ms (missed cycles : 6). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.875574 ms (missed cycles : 6).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180141 ms (missed cycles : 4). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180141 ms (missed cycles : 4).[0m ×2 + 30.73sWARNros2_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 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859299 ms (missed cycles : 5). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859299 ms (missed cycles : 5).[0m ×2 + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702255 ms (missed cycles : 5). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702255 ms (missed cycles : 5).[0m ×2 + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738522 ms (missed cycles : 4). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738522 ms (missed cycles : 4).[0m ×2 + 33.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379884 ms (missed cycles : 3). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379884 ms (missed cycles : 3).[0m ×2 + 35.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.586ms + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819949 ms (missed cycles : 4). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819949 ms (missed cycles : 4).[0m ×2 + 35.81sWARNros2_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 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918499 ms (missed cycles : 4). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918499 ms (missed cycles : 4).[0m ×2 + 37.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479659 ms (missed cycles : 3). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479659 ms (missed cycles : 3).[0m ×2 + 38.03sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976282 ms (missed cycles : 3). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976282 ms (missed cycles : 3).[0m ×2 + 39.42sINFOobjective_server_nodePlanning for 24 path waypoints. ×3 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522898 ms (missed cycles : 2). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522898 ms (missed cycles : 2).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753605 ms (missed cycles : 2). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753605 ms (missed cycles : 2).[0m ×2 + 41.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204954 ms (missed cycles : 2). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204954 ms (missed cycles : 2).[0m ×2 + 42.28sWARNros2_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 + 42.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 42.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 43.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578143 ms (missed cycles : 4). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578143 ms (missed cycles : 4).[0m ×2 + 43.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444221 ms (missed cycles : 4). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444221 ms (missed cycles : 4).[0m ×2 + 44.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216404 ms (missed cycles : 5). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216404 ms (missed cycles : 5).[0m ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868429 ms (missed cycles : 3). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868429 ms (missed cycles : 3).[0m ×2 + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831849 ms (missed cycles : 2). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831849 ms (missed cycles : 2).[0m ×2 + 47.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.69 s); lidar_front (0.69 s); lidar_rear (0.69 s); wrist_camera (0.69 s). The render path has stopped producing new frames for them.[0m ×2 + 48.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838226 ms (missed cycles : 3). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838226 ms (missed cycles : 3).[0m ×2 + 48.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 49.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951680 ms (missed cycles : 2). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951680 ms (missed cycles : 2).[0m ×2 + 49.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687090 ms (missed cycles : 3). + 50.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687090 ms (missed cycles : 3).[0m ×2 + 50.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.670ms + 51.17sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970927 ms (missed cycles : 2). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970927 ms (missed cycles : 2).[0m ×2 + 51.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 52.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546645 ms (missed cycles : 4). + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546645 ms (missed cycles : 4).[0m ×2 + 53.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 53.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709002 ms (missed cycles : 3). + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709002 ms (missed cycles : 3).[0m ×2 + 54.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929279 ms (missed cycles : 2). + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929279 ms (missed cycles : 2).[0m ×2 + 54.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741747 ms (missed cycles : 3). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741747 ms (missed cycles : 3).[0m ×2 + 55.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788549948.43129969 seconds ×3 + 55.93sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 55.93sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 56.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 56.13sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.13sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 56.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.44sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788549949.01522708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.65sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 56.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.042ms + 56.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771401 ms (missed cycles : 3). + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771401 ms (missed cycles : 3).[0m ×2 + 56.88sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409634 ms (missed cycles : 3). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409634 ms (missed cycles : 3).[0m ×2 + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303703 ms (missed cycles : 4). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303703 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 178 warnings · 379 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 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 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 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: 1788549747.66749287 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: 1788549747.67771459 seconds ×3 + 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: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_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 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_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 + 2.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 2.95sWARNros2_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 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582349 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582349 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429768 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429768 ms (missed cycles : 3).[0m ×2 + 6.83sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 7.42sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.849ms + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648133 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648133 ms (missed cycles : 3).[0m ×2 + 8.49sWARNros2_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 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490743 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490743 ms (missed cycles : 3).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481868 ms (missed cycles : 4). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481868 ms (missed cycles : 4).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325720 ms (missed cycles : 4). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325720 ms (missed cycles : 4).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821125 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821125 ms (missed cycles : 3).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640355 ms (missed cycles : 4). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640355 ms (missed cycles : 4).[0m ×2 + 13.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689255 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689255 ms (missed cycles : 3).[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033186 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033186 ms (missed cycles : 2).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641763 ms (missed cycles : 3). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641763 ms (missed cycles : 3).[0m ×2 + 16.92sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452378 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452378 ms (missed cycles : 3).[0m ×2 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747586 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747586 ms (missed cycles : 2).[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803870 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803870 ms (missed cycles : 2).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890898 ms (missed cycles : 2). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890898 ms (missed cycles : 2).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976367 ms (missed cycles : 3). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976367 ms (missed cycles : 3).[0m ×2 + 22.00sWARNros2_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 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525685 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525685 ms (missed cycles : 2).[0m ×2 + 23.69sWARNros2_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 ×8 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757729 ms (missed cycles : 3). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757729 ms (missed cycles : 3).[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776672 ms (missed cycles : 5). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776672 ms (missed cycles : 5).[0m ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698356 ms (missed cycles : 3). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698356 ms (missed cycles : 3).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433165 ms (missed cycles : 3). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433165 ms (missed cycles : 3).[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587472 ms (missed cycles : 3). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587472 ms (missed cycles : 3).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250030 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250030 ms (missed cycles : 2).[0m ×2 + 30.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324483 ms (missed cycles : 4). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324483 ms (missed cycles : 4).[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873862 ms (missed cycles : 2). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873862 ms (missed cycles : 2).[0m ×2 + 32.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252218 ms (missed cycles : 2). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252218 ms (missed cycles : 2).[0m ×2 + 33.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205536 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205536 ms (missed cycles : 2).[0m ×2 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386900 ms (missed cycles : 3). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386900 ms (missed cycles : 3).[0m ×2 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987791 ms (missed cycles : 3). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987791 ms (missed cycles : 3).[0m ×2 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696900 ms (missed cycles : 2). + 37.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696900 ms (missed cycles : 2).[0m ×2 + 37.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181815 ms (missed cycles : 2). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181815 ms (missed cycles : 2).[0m ×2 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376733 ms (missed cycles : 3). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376733 ms (missed cycles : 3).[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839808 ms (missed cycles : 2). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839808 ms (missed cycles : 2).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059973 ms (missed cycles : 2). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059973 ms (missed cycles : 2).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493676 ms (missed cycles : 3). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493676 ms (missed cycles : 3).[0m ×2 + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2).[0m ×2 + 44.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5).[0m ×2 + 46.10sINFOjoint_trajectory_controllerGoal reached, success! + 46.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549793.24387074 seconds ×3 + 46.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549793.82445860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2).[0m ×2 + 47.20sWARNros2_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 + 47.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 47.83sINFOobjective_server_nodeFound path in 0 iterations (2.7674e-05 s). ×2 + 47.89sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2).[0m ×2 + 47.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 160 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647570 ms (missed cycles : 2).[0m ×2 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388531 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388531 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566810 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566810 ms (missed cycles : 4).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.27sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788549863.06301522 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380760 ms (missed cycles : 3). + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380760 ms (missed cycles : 3).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.46sWARNros2_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 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788549864.64501953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673950 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673950 ms (missed cycles : 5).[0m ×2 + 5.19sWARNros2_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 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072468 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072468 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381950 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381950 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693056 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693056 ms (missed cycles : 3).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.044ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814597 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814597 ms (missed cycles : 2).[0m ×2 + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.243ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636362 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636362 ms (missed cycles : 3).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.920ms + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.414ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295240 ms (missed cycles : 4). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295240 ms (missed cycles : 4).[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.992ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793916 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793916 ms (missed cycles : 3).[0m ×2 + 12.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.619ms + 12.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.900ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637102 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637102 ms (missed cycles : 3).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.719ms + 13.81sWARNros2_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 + 13.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.186ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012175 ms (missed cycles : 2). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012175 ms (missed cycles : 2).[0m ×2 + 14.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.181ms + 15.05sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 7.576ms + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972702 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972702 ms (missed cycles : 2).[0m ×2 + 15.64sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 6.990ms + 16.21sINFOamclParticle filter update iteration stats: 2565 particles 723 points - 4.996ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709753 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709753 ms (missed cycles : 2).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 3.796ms + 17.44sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 3.935ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492231 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492231 ms (missed cycles : 3).[0m ×2 + 18.05sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.338ms + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693745 ms (missed cycles : 2). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693745 ms (missed cycles : 2).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 19.22sWARNros2_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 + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980258 ms (missed cycles : 5). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980258 ms (missed cycles : 5).[0m ×2 + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359191 ms (missed cycles : 3). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359191 ms (missed cycles : 3).[0m ×2 + 21.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814426 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814426 ms (missed cycles : 2).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187839 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187839 ms (missed cycles : 2).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761545 ms (missed cycles : 4). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761545 ms (missed cycles : 4).[0m ×2 + 24.33sWARNros2_control_nodeCamera render tick took 0.74 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898641 ms (missed cycles : 2). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898641 ms (missed cycles : 2).[0m ×2 + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519628 ms (missed cycles : 3). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519628 ms (missed cycles : 3).[0m ×2 + 26.20sWARNros2_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 + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 26.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320429 ms (missed cycles : 4). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320429 ms (missed cycles : 4).[0m ×2 + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.587ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203598 ms (missed cycles : 2). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203598 ms (missed cycles : 2).[0m ×2 + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660582 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660582 ms (missed cycles : 3).[0m ×2 + 29.90sWARNros2_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 + 29.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170892 ms (missed cycles : 6). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170892 ms (missed cycles : 6).[0m ×2 + 30.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851937 ms (missed cycles : 2). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851937 ms (missed cycles : 2).[0m ×2 + 31.78sWARNros2_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 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3).[0m ×2 + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 33.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3).[0m ×2 + 33.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2).[0m ×2 + 34.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 34.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549895.76517296 seconds ×3 + 35.01sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.01sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5).[0m ×2 + 35.50sWARNros2_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 + 35.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549896.35115457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.61sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.61sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.97sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 36.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.200ms + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 96 warnings · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236287 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236287 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705617 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705617 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758989 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758989 ms (missed cycles : 2).[0m ×2 + 2.76sWARNros2_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 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788550087.99929428 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099017 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099017 ms (missed cycles : 2).[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_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. ×6 + 3.42sWARNlocal_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. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.76sINFOobjective_server_nodecaller: ×6 + 3.76sINFOobjective_server_nodetype: 0 ×6 + 3.76sINFOobjective_server_nodename: "" ×6 + 3.76sINFOobjective_server_nodeinstance_id: "" ×6 + 3.76sINFOobjective_server_node ×6 + 3.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788550088.58625722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.991ms + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814090 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814090 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227011 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227011 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081344 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081344 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184993 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184993 ms (missed cycles : 3).[0m ×2 + 7.94sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960768 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960768 ms (missed cycles : 3).[0m ×2 + 9.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988861 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988861 ms (missed cycles : 3).[0m ×2 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.23sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.27sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 10.36sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.41sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 10.52sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415660 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415660 ms (missed cycles : 3).[0m ×2 + 10.86sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 11.31sINFOobjective_server_nodeFound path in 33 iterations (0.0333463 s). ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326305 ms (missed cycles : 5). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326305 ms (missed cycles : 5).[0m ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.68sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463378 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463378 ms (missed cycles : 2).[0m ×2 + 13.17sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.51sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476087 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476087 ms (missed cycles : 3).[0m ×2 + 14.88sWARNros2_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 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602794 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602794 ms (missed cycles : 3).[0m ×2 + 16.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.925ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055972 ms (missed cycles : 4). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055972 ms (missed cycles : 4).[0m ×2 + 17.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.976ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809022 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809022 ms (missed cycles : 3).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.601ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2).[0m ×2 + 18.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.002ms + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3).[0m ×2 + 19.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550104.28352618 seconds ×3 + 20.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550104.90290403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.12sINFOmove_groupClearing octomap...[0m ×2 + 20.12sINFOmove_groupOctomap cleared.[0m ×2 + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2).[0m ×2 + 20.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.366ms + 20.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550105.74308825 seconds ×3 + 21.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3).[0m ×2 + 21.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550106.32795334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550106.87813735 seconds ×3 + 22.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 102 errors · 40 warnings · 516 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.601ms + 0.53sWARNros2_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 ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.002ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3).[0m ×2 + 1.79sINFOjoint_trajectory_controllerGoal reached, success! + 1.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550104.28352618 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.24sWARNros2_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 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550104.90290403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.366ms + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550105.74308825 seconds ×3 + 3.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550106.32795334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550106.87813735 seconds ×3 + 4.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119940 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119940 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611132 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611132 ms (missed cycles : 2).[0m ×2 + 7.29sWARNros2_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 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775656 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775656 ms (missed cycles : 2).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095763 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095763 ms (missed cycles : 2).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360423 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360423 ms (missed cycles : 2).[0m ×2 + 10.47sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.48sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORweb_video_auth_proxy-38process has died [pid 7836, 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 + 10.48sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.49sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORweb_bridge_auth_proxy-37process has died [pid 7835, 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 + 10.49sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.52sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.53sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.54sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.55sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.56sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.57sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.58sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.58sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.59sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.60sINFOvideo_server-36process has finished cleanly [pid 7834] ×2 + 10.61sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.62sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.63sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.64sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.65sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.65sINFOcontroller_managerShutdown request received.... + 10.66sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.66sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.66sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.66sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.66sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.66sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.66sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerShutting down the controller manager. + 10.67sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.68sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.69sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.69sERRORmove_group-24process has died [pid 7741, 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_um7n8v21 --params-file /tmp/launch_params_z7_9ewca --params-file /tmp/launch_params_evf573h7 --params-file /tmp/launch_params_hrkp_3hn --params-file /tmp/launch_params_p2w3sjfg --params-file /tmp/launch_params_z02cmo7c']. ×2 + 10.70sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.72sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.73sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.74sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.76sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.77sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.78sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.78sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.78sINFOmap_serverDeactivating + 10.78sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.79sINFOmap_serverCleaning up + 10.79sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.79sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.79sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.79sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.79sINFOcontroller_serverDeactivating + 10.79sINFOlocal_costmap.local_costmapDeactivating + 10.79sINFOvideo_server2026/09/04 19:28:32 INF shutting down gracefully ×2 + 10.79sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOvideo_server2026/09/04 19:28:33 INF [WebRTC] closing ×2 + 10.80sINFOvideo_server2026/09/04 19:28:33 INF [RTSP] closing ×2 + 10.80sINFOvideo_server2026/09/04 19:28:33 INF waiting for running hooks ×2 + 10.80sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.80sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.80sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.80sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.80sERRORmove_groupStack trace (most recent call last) in thread 8414: ×2 + 10.80sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.80sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f407b1c1a63, in __clone ×2 + 10.80sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f407b134aa3, in ×2 + 10.80sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f407b3c6db3, in ×2 + 10.80sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f407bb2ba94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.80sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f407b758620, in rclcpp::Rate::sleep() ×2 + 10.80sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f407b69ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.80sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f407b65c087, in ×2 + 10.80sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f407b395390, in __cxa_throw ×2 + 10.80sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f407b37fa54, in std::terminate() ×2 + 10.80sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f407b3950d9, in ×2 + 10.80sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f407b37fff4, in ×2 + 10.80sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f407b0c08fe, in abort ×2 + 10.80sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f407b0dd27d, in raise ×2 + 10.80sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f407b136b2c, in pthread_kill ×2 + 10.80sERRORmove_groupAborted (Signal sent by tkill() 7741 0) ×2 + 10.80sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.80sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.80sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.80sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.80sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.80sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.80sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.80sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.80sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.80sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.81sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.81sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.81sINFOodom_qos_relay.pymain() ×2 + 10.81sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.81sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.81sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.81sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.81sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.81sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.81sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.81sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.81sERRORamclThe bond connection to the lifecycle manager has been broken + 10.83sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.84sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.84sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.84sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.84sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.84sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.84sINFOcontroller_serverCleaning up + 10.84sINFOvelocity_smootherDeactivating + 10.84sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.84sINFOlocal_costmap.local_costmapCleaning up + 10.87sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.87sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.89sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.89sINFOsmoother_serverDeactivating + 10.89sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.90sINFOsmoother_serverCleaning up + 10.91sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.91sINFOplanner_serverDeactivating + 10.91sINFOglobal_costmap.global_costmapDeactivating + 11.01sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.01sINFOwaypoint_followerDeactivating + 11.01sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.12sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.12sINFObt_navigatorDeactivating + 11.12sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.18sWARNros2_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 + 11.23sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.23sINFObehavior_serverDeactivating + 11.23sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.35sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.35sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.35sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.35sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.35sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.35sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.35sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.35sINFOvelocity_smootherCleaning up + 11.35sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.35sINFOwaypoint_followerCleaning up + 11.37sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.37sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.38sINFOplanner_serverCleaning up + 11.38sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.38sINFObt_navigatorCleaning up + 11.39sINFOglobal_costmap.global_costmapCleaning up + 11.40sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.40sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.44sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.44sINFObehavior_serverCleaning up + 11.44sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.44sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.44sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.44sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.56sINFObt_navigatorCompleted Cleaning up + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.59sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7826] ×2 + 11.59sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.62sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.62sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.62sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.62sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.66sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7788] ×2 + 11.67sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7786] ×2 + 11.67sINFOui_teleop_bridge-33process has finished cleanly [pid 7818] ×2 + 11.69sINFOexecute_objective_bridge-32process has finished cleanly [pid 7811] ×2 + 11.70sINFOcomponent_container_mt-31process has finished cleanly [pid 7810] ×2 + 11.71sINFOparameter_manager_node-25process has finished cleanly [pid 7784] ×2 + 11.72sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7720] ×2 + 11.72sINFOwaypoint_manager_node-26process has finished cleanly [pid 7785] ×2 + 11.73sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7719] ×2 + 11.74sINFOstatic_transform_publisher-9process has finished cleanly [pid 7637] ×2 + 11.75sINFOstatic_transform_publisher-8process has finished cleanly [pid 7636] ×2 + 11.76sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.76sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.76sINFOlidar_flattener.pymain() ×2 + 11.76sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.76sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.76sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.76sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.76sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.76sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.76sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.76sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.76sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.76sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.79sINFOobjective_server_node[2026-09-04 19:28:34.259] [moveit_pro_license] [critical] ×2 + 11.79sINFOobjective_server_node************************************************* ×4 + 11.79sINFOobjective_server_node* MoveIt Pro License ×2 + 11.79sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.80sINFOstatic_transform_publisher-4process has finished cleanly [pid 7632] ×2 + 11.81sINFOstatic_transform_publisher-3process has finished cleanly [pid 7631] ×2 + 11.81sERRORlidar_flattener.py-7process has died [pid 7635, 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_j_5hcd5w']. ×2 + 11.85sERRORodom_qos_relay.py-5process has died [pid 7633, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.85sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7634] ×2 + 11.87sINFOobjective_server_node_main-29process has finished cleanly [pid 7789] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.87sERRORcomponent_container_isolated-1process has died [pid 7629, 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__zb7hnpl --params-file /tmp/launch_params_55_9o5s7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.80sINFOcomponent_container_mt-30process has finished cleanly [pid 7809] ×2 + 13.12sERRORcomponent_container_isolated-2process has died [pid 7630, 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__zb7hnpl --params-file /tmp/launch_params_ockgosxc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.36sINFOweb_bridge-34process has finished cleanly [pid 7825] ×2 + 13.36sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.41sINFOros2_control_node-12process has finished cleanly [pid 7721] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 99 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546645 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546645 ms (missed cycles : 4).[0m ×2 + 0.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709002 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709002 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929279 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929279 ms (missed cycles : 2).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741747 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741747 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788549948.43129969 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788549949.01522708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sWARNros2_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 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.042ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771401 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771401 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409634 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409634 ms (missed cycles : 3).[0m ×2 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303703 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303703 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036104 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036104 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523544 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523544 ms (missed cycles : 3).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952146 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952146 ms (missed cycles : 2).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.876ms + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.982ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050219 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050219 ms (missed cycles : 2).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.942ms + 11.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.945ms + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701944 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701944 ms (missed cycles : 2).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.206ms + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.485ms + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118331 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118331 ms (missed cycles : 3).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.569ms + 13.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.325ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906681 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906681 ms (missed cycles : 3).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 14.23sINFOobjective_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 + 14.23sINFOjoint_trajectory_controllerGot request to cancel goal + 14.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.23sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.28sERRORobjective_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: 1788549959.42968774 seconds ×3 + 14.35sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.35sWARNlocal_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 + 14.65sWARNros2_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 + 14.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 14.75sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.75sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788549960.00843239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466108 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466108 ms (missed cycles : 3).[0m ×2 + 15.24sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 15.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.191ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569269 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569269 ms (missed cycles : 2).[0m ×2 + 16.37sWARNros2_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 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869769 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869769 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 67 warnings · 142 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549856.69447970 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549857.28165436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.163ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3).[0m ×2 + 5.28sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647570 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647570 ms (missed cycles : 2).[0m ×2 + 6.97sWARNros2_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 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388531 ms (missed cycles : 4). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388531 ms (missed cycles : 4).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566810 ms (missed cycles : 4). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566810 ms (missed cycles : 4).[0m ×2 + 9.13sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788549863.06301522 seconds ×3 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380760 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380760 ms (missed cycles : 3).[0m ×2 + 10.32sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788549864.64501953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673950 ms (missed cycles : 5). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673950 ms (missed cycles : 5).[0m ×2 + 12.04sWARNros2_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 + 12.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072468 ms (missed cycles : 2). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072468 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381950 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381950 ms (missed cycles : 3).[0m ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 66 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464509 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464509 ms (missed cycles : 3).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.758ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899731 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899731 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124875 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124875 ms (missed cycles : 2).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 2.43sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.43sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788550024.15859437 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.59sWARNlocal_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. ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.01sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788550024.73054123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335504 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335504 ms (missed cycles : 4).[0m ×2 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.058ms + 3.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.14sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110648 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110648 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872650 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872650 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 6.96sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 9.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.50sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 12.14sWARNros2_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 + 12.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 46 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2).[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5).[0m ×2 + 2.46sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.46sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549793.24387074 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 2.53sINFOros2_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 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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 + 3.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549793.82445860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2).[0m ×2 + 3.57sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.7674e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215434 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215434 ms (missed cycles : 4).[0m ×2 + 6.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881563 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881563 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 8.63sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549799.38459754 seconds ×3 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281988 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281988 ms (missed cycles : 3).[0m ×2 + 9.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549799.96435022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 9.62sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 9.81sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.063ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095333 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095333 ms (missed cycles : 3).[0m ×2 + 10.36sWARNros2_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 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765996 ms (missed cycles : 2). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765996 ms (missed cycles : 2).[0m ×2 + 11.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833912 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833912 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 30 warnings · 118 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.976ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809022 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809022 ms (missed cycles : 3).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.601ms + 1.08sWARNros2_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 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.002ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550104.28352618 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNros2_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 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550104.90290403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.366ms + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550105.74308825 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550106.32795334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550106.87813735 seconds ×3 + 5.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119940 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119940 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611132 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611132 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_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 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 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 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 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: 1788549747.66749287 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: 1788549747.67771459 seconds ×3 + 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: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_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 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_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 + 2.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.48sINFOjoint_trajectory_controllerReceived new action goal + 4.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582349 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582349 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2).[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5).[0m ×2 + 2.46sINFOjoint_trajectory_controllerGoal reached, success! + 2.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549793.24387074 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 2.53sINFOros2_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 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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 + 3.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549793.82445860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2).[0m ×2 + 3.57sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.7674e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOjoint_trajectory_controllerReceived new action goal + 4.30sINFOjoint_trajectory_controllerAccepted new action goal + 4.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620716 ms (missed cycles : 2).[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364206 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521237 ms (missed cycles : 5).[0m ×2 + 2.46sINFOjoint_trajectory_controllerGoal reached, success! + 2.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549793.24387074 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 2.53sINFOros2_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 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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 + 3.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549793.82445860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307947 ms (missed cycles : 2).[0m ×2 + 3.57sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.7674e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935807 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOjoint_trajectory_controllerReceived new action goal + 4.30sINFOjoint_trajectory_controllerAccepted new action goal + 4.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.11sINFOobjective_server_nodecaller: ×10 + 3.11sINFOobjective_server_nodetype: 0 ×10 + 3.11sINFOobjective_server_nodename: "" ×10 + 3.11sINFOobjective_server_nodeinstance_id: "" ×10 + 3.11sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.53sWARNros2_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 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 25 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359283 ms (missed cycles : 3).[0m ×2 + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215434 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215434 ms (missed cycles : 4).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881563 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881563 ms (missed cycles : 3).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549799.38459754 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281988 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281988 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549799.96435022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.063ms + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095333 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095333 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765996 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765996 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833912 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833912 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549856.69447970 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549857.28165436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.163ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3).[0m ×2 + 5.28sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549856.69447970 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549857.28165436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.163ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3).[0m ×2 + 5.28sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549856.69447970 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549857.28165436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.163ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3).[0m ×2 + 5.28sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549856.69447970 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549857.28165436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.163ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3).[0m ×2 + 5.28sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443995 ms (missed cycles : 3).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818103 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877256 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549856.69447970 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549857.28165436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.163ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545533 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588928 ms (missed cycles : 3).[0m ×2 + 5.28sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 46 warnings · 75 info |
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549895.76517296 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5).[0m ×2 + 3.72sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549896.35115457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.200ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 46 warnings · 75 info |
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549895.76517296 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5).[0m ×2 + 3.72sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549896.35115457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.200ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 46 warnings · 75 info |
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171414 ms (missed cycles : 3).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808728 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759287 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549895.76517296 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270468 ms (missed cycles : 5).[0m ×2 + 3.72sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549896.35115457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.200ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979647 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_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 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097580 ms (missed cycles : 4).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.11sINFOobjective_server_nodecaller: ×10 + 3.11sINFOobjective_server_nodetype: 0 ×10 + 3.11sINFOobjective_server_nodename: "" ×10 + 3.11sINFOobjective_server_nodeinstance_id: "" ×10 + 3.11sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.53sWARNros2_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 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.11sINFOobjective_server_nodecaller: ×10 + 3.11sINFOobjective_server_nodetype: 0 ×10 + 3.11sINFOobjective_server_nodename: "" ×10 + 3.11sINFOobjective_server_nodeinstance_id: "" ×10 + 3.11sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.53sWARNros2_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 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306015 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893721 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925288 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550030.66067600 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550031.24913859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093478 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707335 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748362 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_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 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 118 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.976ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809022 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809022 ms (missed cycles : 3).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.601ms + 1.08sWARNros2_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 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543337 ms (missed cycles : 2).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.002ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811769 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550104.28352618 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNros2_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 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550104.90290403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284565 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.366ms + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550105.74308825 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056929 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550106.32795334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550106.87813735 seconds ×3 + 5.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852844 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.05sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.58sINFOobjective_server_nodecaller: ×10 + 2.58sINFOobjective_server_nodetype: 0 ×10 + 2.58sINFOobjective_server_nodename: "" ×10 + 2.58sINFOobjective_server_nodeinstance_id: "" ×10 + 2.58sINFOobjective_server_node ×10 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.00sWARNros2_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 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 303 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156321 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156321 ms (missed cycles : 3).[0m ×2 + 0.62sWARNros2_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 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.73sINFOobjective_server_nodecaller: ×10 + 3.73sINFOobjective_server_nodetype: 0 ×10 + 3.73sINFOobjective_server_nodename: "" ×10 + 3.73sINFOobjective_server_nodeinstance_id: "" ×10 + 3.73sINFOobjective_server_node ×10 + 3.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 309 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.11sINFOobjective_server_nodecaller: ×10 + 3.11sINFOobjective_server_nodetype: 0 ×10 + 3.11sINFOobjective_server_nodename: "" ×10 + 3.11sINFOobjective_server_nodeinstance_id: "" ×10 + 3.11sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.53sWARNros2_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 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.06sINFOjoint_trajectory_controllerReceived new action goal + 7.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.07sINFOjoint_trajectory_controllerAccepted new action goal + 7.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 29 warnings · 300 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156321 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156321 ms (missed cycles : 3).[0m ×2 + 0.62sWARNros2_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 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.73sINFOobjective_server_nodecaller: ×10 + 3.73sINFOobjective_server_nodetype: 0 ×10 + 3.73sINFOobjective_server_nodename: "" ×10 + 3.73sINFOobjective_server_nodeinstance_id: "" ×10 + 3.73sINFOobjective_server_node ×10 + 3.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.11sINFOobjective_server_nodecaller: ×10 + 3.11sINFOobjective_server_nodetype: 0 ×10 + 3.11sINFOobjective_server_nodename: "" ×10 + 3.11sINFOobjective_server_nodeinstance_id: "" ×10 + 3.11sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.53sWARNros2_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 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.11sINFOobjective_server_nodecaller: ×10 + 3.11sINFOobjective_server_nodetype: 0 ×10 + 3.11sINFOobjective_server_nodename: "" ×10 + 3.11sINFOobjective_server_nodeinstance_id: "" ×10 + 3.11sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.53sWARNros2_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 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.11sINFOobjective_server_nodecaller: ×10 + 3.11sINFOobjective_server_nodetype: 0 ×10 + 3.11sINFOobjective_server_nodename: "" ×10 + 3.11sINFOobjective_server_nodeinstance_id: "" ×10 + 3.11sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.53sWARNros2_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 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091944 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.05sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.58sINFOobjective_server_nodecaller: ×10 + 2.58sINFOobjective_server_nodetype: 0 ×10 + 2.58sINFOobjective_server_nodename: "" ×10 + 2.58sINFOobjective_server_nodeinstance_id: "" ×10 + 2.58sINFOobjective_server_node ×10 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 5.00sWARNros2_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 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582349 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582349 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736423 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020220 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549747.66749287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.61sINFOmove_groupClearing octomap...[0m ×2 + 1.61sINFOmove_groupOctomap cleared.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549747.67771459 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549748.25111413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549748.26123285 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770466 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549748.83559155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549748.98642373 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649791 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549749.58196139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549749.64209318 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549750.22155690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125911 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863256 ms (missed cycles : 3).[0m ×2 | ||||