73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.5s | 12 errors · 315 warnings · 1519 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/2026-09-04-19-49-14-565452-de370bbfb681-7572 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.24sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.25sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 4.26sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 4.27sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.28sINFOstatic_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' + 4.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.30sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.42sINFOmap_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. + 4.42sINFOmap_serverCreating + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.53sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.54sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.54sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.56sINFOros2_control_node-12process started with pid [7714] ×2 + 4.58sINFOmove_group-24process started with pid [7755] ×2 + 4.58sINFOparameter_manager_node-25process started with pid [7781] ×2 + 4.58sINFOwaypoint_manager_node-26process started with pid [7782] ×2 + 4.58sINFOmove_joint_resampler_node-27process started with pid [7785] ×2 + 4.58sINFOmove_end_effector_resampler_node-28process started with pid [7786] ×2 + 4.58sINFOobjective_server_node_main-29process started with pid [7787] ×2 + 4.58sINFOcomponent_container_mt-30process started with pid [7788] ×2 + 4.58sINFOcomponent_container_mt-31process started with pid [7789] ×2 + 4.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.58sINFOexecute_objective_bridge-32process started with pid [7790] ×2 + 4.58sINFOui_teleop_bridge-33process started with pid [7791] ×2 + 4.58sINFOweb_bridge-34process started with pid [7792] ×2 + 4.58sINFOtf2_web_republisher_node-35process started with pid [7793] ×2 + 4.58sINFOvideo_server-36process started with pid [7794] ×2 + 4.58sINFOweb_bridge_auth_proxy-37process started with pid [7796] ×2 + 4.58sINFOweb_video_auth_proxy-38process started with pid [7801] ×2 + 4.58sINFOcomponent_container_isolated-1process started with pid [7622] ×2 + 4.58sINFOcomponent_container_isolated-2process started with pid [7623] ×2 + 4.58sINFOstatic_transform_publisher-3process started with pid [7624] ×2 + 4.58sINFOstatic_transform_publisher-4process started with pid [7625] ×2 + 4.58sINFOodom_qos_relay.py-5process started with pid [7626] ×2 + 4.58sINFOforward_stereo_publisher.py-6process started with pid [7627] ×2 + 4.58sINFOlidar_flattener.py-7process started with pid [7628] ×2 + 4.58sINFOstatic_transform_publisher-8process started with pid [7629] ×2 + 4.58sINFOstatic_transform_publisher-9process started with pid [7630] ×2 + 4.58sINFOscan_to_scan_filter_chain-10process started with pid [7712] ×2 + 4.58sINFOscan_to_scan_filter_chain-11process started with pid [7713] ×2 + 4.58sINFOros2-13process started with pid [7715] ×2 + 4.58sINFOros2-14process started with pid [7718] ×2 + 4.58sINFOros2-15process started with pid [7720] ×2 + 4.58sINFOros2-16process started with pid [7721] ×2 + 4.58sINFOros2-17process started with pid [7724] ×2 + 4.58sINFOros2-18process started with pid [7727] ×2 + 4.58sINFOros2-19process started with pid [7728] ×2 + 4.58sINFOros2-20process started with pid [7729] ×2 + 4.58sINFOros2-21process started with pid [7734] ×2 + 4.58sINFOros2-22process started with pid [7735] ×2 + 4.58sINFOros2-23process started with pid [7752] ×2 + 4.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.61sINFOcontroller_managerupdate rate is 600 Hz + 4.61sINFOcontroller_managerOverruns handling is : enabled + 4.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sWARNcontroller_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. + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.64sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.66sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.68sINFOcontroller_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. + 4.70sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.70sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.70sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.70sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.70sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.70sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.71sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.71sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.71sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.71sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.71sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.71sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.71sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.71sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.71sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.71sWARNros2_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 + 4.72sINFOlifecycle_manager_localizationCreating + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598873 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598873 ms (missed cycles : 2).[0m ×2 + 4.75sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.76sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.76sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.77sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.77sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.78sINFOmap_serverConfiguring + 4.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.80sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.80sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.84sINFOcontroller_serverCreating controller server + 4.85sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.85sINFOamclConfiguring + 4.86sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.86sINFOmap_serverActivating + 4.86sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.88sINFOlocal_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. + 4.90sINFOlocal_costmap.local_costmapCreating Costmap + 4.90sINFOcontroller_managerReceived robot description from topic. + 4.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.91sINFOrobot_state_publisherRobot initialized + 4.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.91sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.96sINFOsmoother_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. + 4.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.96sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.98sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.98sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.98sINFOamclActivating + 4.98sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.98sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.99sINFOsmoother_serverCreating smoother server + 4.99sINFOamclSubscribed to map_topic: /map + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.00sINFOamclSubscribed to scan_topic: /scan_merged + 5.00sINFOamclCreated reinitialize_global_localization service + 5.00sINFOamclCreated request_nomotion_update service + 5.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.01sINFOamclA new map was received + 5.01sINFOamclInitializing particle filter instance + 5.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.05sINFOplanner_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. + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.07sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.08sINFOplanner_serverCreating + 5.11sINFOglobal_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. + 5.11sINFOvideo_server2026/09/04 19:49:21 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.11sINFOvideo_server2026/09/04 19:49:21 INF configuration loaded from /tmp/moveit-webrtc-4si89qnh/mediamtx.yml ×2 + 5.12sINFOvideo_server2026/09/04 19:49:21 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.12sINFOglobal_costmap.global_costmapCreating Costmap + 5.13sINFOvideo_server2026/09/04 19:49:21 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 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. + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.22sINFOnav2_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> + 5.26sINFOlidar_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 + 5.28sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.28sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.28sINFObt_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. + 5.30sINFObt_navigatorCreating + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.31sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.428316 seconds + 5.31sINFOmove_groupLoaded robot model in 0.428316 seconds[0m ×2 + 5.31sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.32sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.32sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.32sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.33sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.35sINFOwaypoint_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. + 5.35sINFOwaypoint_followerCreating + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.38sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.38sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.38sWARNlaser_angular_filter_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. + 5.42sINFOvelocity_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. + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.47sINFOlifecycle_manager_navigationCreating + 5.50sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.54sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.54sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.54sINFOcontroller_serverConfiguring controller interface + 5.54sINFOcontroller_servergetting progress checker plugins.. + 5.54sINFOcontroller_servergetting goal checker plugins.. + 5.54sINFOcontroller_serverController frequency set to 20.0000Hz + 5.54sINFOlocal_costmap.local_costmapConfiguring + 5.55sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.57sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.60sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.60sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.60sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.63sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.64sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.64sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.64sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.65sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.67sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.69sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.69sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.70sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.71sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.73sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.73sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.73sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.73sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.73sINFOcontroller_serverOptimizer reset ×2 + 5.75sINFOamclParticle filter initialization completed + 5.75sINFOcontroller_serverController Server has FollowPath controllers available. + 5.75sINFOamclInitializing particles from estimated pose and covariance + 5.75sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.76sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.76sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.76sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.78sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.78sINFOsmoother_serverConfiguring smoother server + 5.81sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.82sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.83sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.83sINFOplanner_serverConfiguring + 5.83sINFOglobal_costmap.global_costmapConfiguring + 5.85sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.85sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.85sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.85sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.85sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.86sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.90sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.90sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.90sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.90sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.91sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.95sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.96sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.96sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.98sINFOplanner_serverPlanner Server has GridBased planners available. + 6.01sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.01sINFObehavior_serverConfiguring + 6.02sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.02sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.02sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.02sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.04sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568404 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568404 ms (missed cycles : 3).[0m ×2 + 6.05sINFObehavior_serverConfiguring spin + 6.06sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.06sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.06sWARNmove_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. + 6.06sWARNmove_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. + 6.06sWARNmove_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 + 6.06sWARNmove_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 + 6.06sWARNmove_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. + 6.06sWARNmove_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. + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.07sWARNmove_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. + 6.07sWARNmove_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 + 6.07sWARNmove_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. + 6.07sWARNmove_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. + 6.07sWARNmove_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 + 6.07sWARNmove_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. + 6.07sWARNmove_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. + 6.07sWARNmove_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 + 6.07sWARNmove_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. + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.09sINFObehavior_serverConfiguring backup + 6.11sINFObehavior_serverConfiguring drive_on_heading + 6.12sINFObehavior_serverConfiguring assisted_teleop + 6.16sINFObehavior_serverConfiguring wait + 6.18sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.18sINFObt_navigatorConfiguring + 6.19sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.19sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.19sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.22sINFObt_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 + 6.24sINFOros2_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 + 6.24sINFOros2_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 + 6.36sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.40sINFOmove_group[2026-09-04 19:49:22.604] [moveit_pro_license] [info] ×2 + 6.41sINFOmove_group************************************************* ×4 + 6.41sINFOmove_group* MoveIt Pro License ×2 + 6.41sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.41sINFOwaypoint_manager_nodeLoaded robot model in 0.463267 seconds[0m ×2 + 6.41sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.41sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.44sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.44sINFOwaypoint_followerConfiguring + 6.50sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.51sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.51sINFOvelocity_smootherConfiguring velocity smoother + 6.54sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.54sINFOcontroller_serverActivating + 6.54sINFOlocal_costmap.local_costmapActivating + 6.54sINFOlocal_costmap.local_costmapChecking transform + 6.54sINFOlocal_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. ×5 + 6.86sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.86sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.86sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.86sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.86sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.86sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.86sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.86sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.86sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.86sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.86sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.87sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.87sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.87sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.87sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.87sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.87sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.87sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.96sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.96sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.96sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.96sWARNwaypoint_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 + 7.14sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.14sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.14sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.14sINFOwaypoint_manager_node[2026-09-04 19:49:23.344] [moveit_pro_license] [info] ×2 + 7.14sINFOwaypoint_manager_node************************************************* ×4 + 7.14sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.14sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.14sWARNros2_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 + 7.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.14sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.14sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.14sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.14sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.14sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.14sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.15sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.15sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.15sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.15sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975532 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975532 ms (missed cycles : 2).[0m ×2 + 7.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 7.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 7.32sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.32sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.47sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.47sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.48sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.51sINFOros2_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 + 7.51sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.51sWARNros2_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 + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.75sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.82sINFOros2_control_node[2026-09-04 19:49:24.019] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 7.82sINFOros2_control_node[2026-09-04 19:49:24.024] [info] Controller state will be published at 10 Hz. ×2 + 7.82sINFOros2_control_node[2026-09-04 19:49:24.025] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.91sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.93sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.93sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.93sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.94sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.94sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.94sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.94sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.94sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.94sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.96sWARNcomponent_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 + 8.11sINFOobjective_server_node[2026-09-04 19:49:24.316] [moveit_pro_license] [info] ×2 + 8.11sINFOobjective_server_node************************************************* ×4 + 8.12sINFOobjective_server_node* MoveIt Pro License ×2 + 8.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.12sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 8.12sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 8.15sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129156 ms (missed cycles : 3). + 8.15sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129156 ms (missed cycles : 3).[0m ×2 + 8.18sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.18sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.19sINFOros2-20process has finished cleanly [pid 7729] ×2 + 8.20sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.20sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.20sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.20sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.20sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.20sINFOstreaming_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) + 8.20sINFOcomponent_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 + 8.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 8.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 8.21sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.22sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 8.22sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.22sINFOobjective_server_nodeLoaded robot model in 0.0456041 seconds[0m ×2 + 8.22sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.22sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.33sINFOcomponent_container_mtLoaded robot model in 0.377056 seconds[0m ×2 + 8.33sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.33sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.65sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.65sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.66sWARNobjective_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. + 8.66sWARNobjective_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 + 8.66sWARNobjective_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. + 8.66sWARNobjective_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. + 8.66sWARNobjective_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. + 8.66sWARNobjective_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. + 8.66sWARNobjective_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. + 8.66sWARNobjective_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 + 8.66sWARNobjective_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 + 8.66sWARNobjective_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 + 8.66sWARNobjective_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. + 8.66sWARNobjective_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 + 8.66sWARNobjective_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 + 8.66sWARNobjective_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. + 8.66sWARNobjective_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 + 8.66sWARNobjective_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 + 8.66sWARNobjective_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. + 8.66sWARNobjective_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. + 8.66sWARNobjective_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 + 8.66sWARNobjective_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 + 8.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 8.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 8.72sINFOros2-17process has finished cleanly [pid 7724] ×2 + 8.75sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.75sINFOobjective_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 + 8.75sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.75sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.77sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.78sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.78sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.78sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.78sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.78sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.78sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.78sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.80sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_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 + 9.00sINFOmove_groupMoveGroup debug mode is ON + 9.00sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.01sINFOcomponent_container_mt[2026-09-04 19:49:25.208] [moveit_pro_license] [info] ×2 + 9.01sINFOcomponent_container_mt************************************************* ×4 + 9.01sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.01sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.04sINFOlocal_costmap.local_costmapstart + 9.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.06sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.07sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.09sINFOros2-15process has finished cleanly [pid 7720] ×2 + 9.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 9.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 9.14sWARNcontroller_serverParameter controller_server.verbose not found + 9.14sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975175 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975175 ms (missed cycles : 2).[0m ×2 + 9.18sINFOmove_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
********************************************************
+ 9.18sINFOmove_group ×8 + 9.18sINFOmove_group******************************************************** ×4 + 9.18sINFOmove_group* MoveGroup using: ×2 + 9.18sINFOmove_group* - apply_planning_scene_service ×2 + 9.18sINFOmove_group* - clear_octomap_service ×2 + 9.18sINFOmove_group* - get_group_urdf ×2 + 9.18sINFOmove_group* - load_geometry_from_file ×2 + 9.18sINFOmove_group* - get_planning_scene_service ×2 + 9.18sINFOmove_group* - kinematics_service ×2 + 9.18sINFOmove_group* - save_geometry_to_file ×2 + 9.18sINFOmove_group* - GetPlanningGroups ×2 + 9.18sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.18sINFOmove_group[0m ×2 + 9.18sINFOmove_group[92mYou can start planning now![0m ×2 + 9.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.25sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.25sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.25sINFOsmoother_serverActivating + 9.25sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.29sWARNros2_control_nodeCamera render tick took 1.00 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.31sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.31sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.32sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.32sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.36sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.36sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.36sINFOplanner_serverActivating + 9.36sINFOglobal_costmap.global_costmapActivating + 9.36sINFOglobal_costmap.global_costmapChecking transform + 9.36sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 9.38sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.38sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.59sINFOros2_control_node[2026-09-04 19:49:25.789] [info] Controller state will be published at 20 Hz. ×2 + 9.59sINFOros2_control_node[2026-09-04 19:49:25.790] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.61sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788551364.486 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 9.80sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.89sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.89sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.89sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.89sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 9.89sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.89sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 9.93sINFOros2-22process has finished cleanly [pid 7735] ×2 + 9.96sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.96sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.96sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.96sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.97sWARNros2_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 + 9.98sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.047ms + 10.33sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788551364.486 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.34sINFOros2_control_node[2026-09-04 19:49:26.543] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.34sINFOros2_control_node[2026-09-04 19:49:26.545] [info] Controller state will be published at 10 Hz. ×2 + 10.34sINFOros2_control_node[2026-09-04 19:49:26.546] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696093 ms (missed cycles : 2). + 10.36sINFOglobal_costmap.global_costmapstart + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696093 ms (missed cycles : 2).[0m ×2 + 10.65sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.65sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.65sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.65sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.65sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 10.65sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 10.70sINFOros2-21process has finished cleanly [pid 7734] ×2 + 10.71sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.71sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.71sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.71sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.71sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.72sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.72sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.03sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.03sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.03sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.03sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 11.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 11.04sINFOros2-14process has finished cleanly [pid 7718] ×2 + 11.10sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.10sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.11sINFOplatform_velocity_controller_nav2configure successful + 11.11sINFOros2_control_nodeconfigure successful[0m ×6 + 11.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.41sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.41sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 11.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 11.46sINFOros2-18process has finished cleanly [pid 7727] ×2 + 11.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.47sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.47sINFOforce_torque_sensor_broadcasterconfigure successful + 11.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445908 ms (missed cycles : 5). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445908 ms (missed cycles : 5).[0m ×2 + 11.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.52sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.52sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.52sINFObehavior_serverActivating + 11.52sINFObehavior_serverActivating spin + 11.52sINFObehavior_serverActivating backup + 11.52sINFObehavior_serverActivating drive_on_heading + 11.52sINFObehavior_serverActivating assisted_teleop + 11.52sINFObehavior_serverActivating wait + 11.52sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.62sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.62sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.62sINFObt_navigatorActivating + 11.69sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.79sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.79sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.79sINFOwaypoint_followerActivating + 11.79sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.80sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.80sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.80sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.80sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 11.80sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.80sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 11.83sINFOros2-13process has finished cleanly [pid 7715] ×2 + 11.86sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.86sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.87sINFOplatform_velocity_controllerconfigure successful + 11.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.88sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.88sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.90sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.90sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.90sINFOvelocity_smootherActivating + 11.90sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.19sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.19sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.19sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.19sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 12.19sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.19sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 12.21sINFOros2-16process has finished cleanly [pid 7721] ×2 + 12.25sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.25sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.25sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.25sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199740 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199740 ms (missed cycles : 2).[0m ×2 + 12.61sINFOros2_control_node[2026-09-04 19:49:28.806] [info] Controller state will be published at 20 Hz. ×2 + 12.61sINFOros2_control_node[2026-09-04 19:49:28.807] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.96sINFOros2-23process has finished cleanly [pid 7752] ×2 + 12.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 + 12.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_aagnxrgs --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_6nwllqdm --params-file /tmp/launch_params_c9xzhbq9 [0m ×2 + 13.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.39sINFOros2-19process has finished cleanly [pid 7728] ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242371 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242371 ms (missed cycles : 2).[0m ×2 + 14.75sWARNros2_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 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588270 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588270 ms (missed cycles : 3).[0m ×2 + 15.32sWARNros2_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 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 17.30sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.43sINFOobjective_server_nodecaller: ×10 + 18.43sINFOobjective_server_nodetype: 0 ×10 + 18.43sINFOobjective_server_nodename: "" ×10 + 18.43sINFOobjective_server_nodeinstance_id: "" ×10 + 18.43sINFOobjective_server_node ×10 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 18.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.47sINFOmove_groupClearing octomap...[0m ×2 + 18.47sINFOmove_groupOctomap cleared.[0m ×2 + 18.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 19.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 19.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 19.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 19.82sWARNros2_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 + 20.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.38sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.41sWARNros2_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 + 20.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 20.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.7s | 3 errors · 286 warnings · 253 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.553ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159978 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159978 ms (missed cycles : 2).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.164ms + 1.13sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 1.15sWARNros2_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 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.670ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591193 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591193 ms (missed cycles : 3).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.582ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995363 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995363 ms (missed cycles : 2).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 4446 particles 723 points - 8.054ms + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOjoint_trajectory_controllerGot request to cancel goal + 2.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.68sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.71sERRORobjective_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: 1788551585.51781750 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.96sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 5.434ms + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788551586.09991884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940956 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940956 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.562ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500308 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500308 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495546 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495546 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.03sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.03sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.43sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441569 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441569 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453008 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453008 ms (missed cycles : 3).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766966 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766966 ms (missed cycles : 3).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.958ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779194 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779194 ms (missed cycles : 3).[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.815ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572116 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572116 ms (missed cycles : 3).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 7.358ms + 11.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 5.075ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335722 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335722 ms (missed cycles : 3).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 3.082ms + 12.82sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.809ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094268 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094268 ms (missed cycles : 2).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668826 ms (missed cycles : 4). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668826 ms (missed cycles : 4).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832230 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832230 ms (missed cycles : 3).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976487 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976487 ms (missed cycles : 3).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 16.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902662 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902662 ms (missed cycles : 2).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms ×2 + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863542 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863542 ms (missed cycles : 3).[0m ×2 + 18.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.182ms + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447169 ms (missed cycles : 3). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447169 ms (missed cycles : 3).[0m ×2 + 19.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 20.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989691 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989691 ms (missed cycles : 2).[0m ×2 + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831581 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831581 ms (missed cycles : 3).[0m ×2 + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416050 ms (missed cycles : 3). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416050 ms (missed cycles : 3).[0m ×2 + 22.58sWARNros2_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 ×6 + 22.60sWARNros2_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 ×4 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617774 ms (missed cycles : 4). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617774 ms (missed cycles : 4).[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918042 ms (missed cycles : 4). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918042 ms (missed cycles : 4).[0m ×2 + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991095 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991095 ms (missed cycles : 3).[0m ×2 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923051 ms (missed cycles : 3). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923051 ms (missed cycles : 3).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877587 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877587 ms (missed cycles : 2).[0m ×2 + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232222 ms (missed cycles : 2). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232222 ms (missed cycles : 2).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250009 ms (missed cycles : 4). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250009 ms (missed cycles : 4).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.563ms + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 30.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.850421 ms (missed cycles : 5). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.850421 ms (missed cycles : 5).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968672 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968672 ms (missed cycles : 2).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228329 ms (missed cycles : 5). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228329 ms (missed cycles : 5).[0m ×2 + 33.68sWARNros2_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 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197807 ms (missed cycles : 2). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197807 ms (missed cycles : 2).[0m ×2 + 34.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 34.40sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.40sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.13sINFOobjective_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 7.841297 ms (missed cycles : 5). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841297 ms (missed cycles : 5).[0m ×2 + 36.10sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516739 ms (missed cycles : 5). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516739 ms (missed cycles : 5).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958079 ms (missed cycles : 3). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958079 ms (missed cycles : 3).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118146 ms (missed cycles : 3). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118146 ms (missed cycles : 3).[0m ×2 + 38.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386097 ms (missed cycles : 2). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386097 ms (missed cycles : 2).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 40.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 40.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087092 ms (missed cycles : 3). + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087092 ms (missed cycles : 3).[0m ×2 + 41.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678739 ms (missed cycles : 2). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678739 ms (missed cycles : 2).[0m ×2 + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504241 ms (missed cycles : 5). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504241 ms (missed cycles : 5).[0m ×2 + 44.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279574 ms (missed cycles : 4). + 44.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279574 ms (missed cycles : 4).[0m ×2 + 44.33sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853697 ms (missed cycles : 5). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853697 ms (missed cycles : 5).[0m ×2 + 45.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949535 ms (missed cycles : 2). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949535 ms (missed cycles : 2).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714227 ms (missed cycles : 3). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714227 ms (missed cycles : 3).[0m ×2 + 47.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.287ms + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364547 ms (missed cycles : 4). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364547 ms (missed cycles : 4).[0m ×2 + 48.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738043 ms (missed cycles : 4). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738043 ms (missed cycles : 4).[0m ×2 + 49.87sWARNros2_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 + 49.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 50.05sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812373 ms (missed cycles : 3). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812373 ms (missed cycles : 3).[0m ×2 + 51.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936711 ms (missed cycles : 2). + 51.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936711 ms (missed cycles : 2).[0m ×2 + 52.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229432 ms (missed cycles : 2). + 52.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229432 ms (missed cycles : 2).[0m ×2 + 53.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935182 ms (missed cycles : 3). + 53.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935182 ms (missed cycles : 3).[0m ×2 + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263311 ms (missed cycles : 2). + 54.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263311 ms (missed cycles : 2).[0m ×2 + 54.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 55.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 55.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657913 ms (missed cycles : 4). + 55.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657913 ms (missed cycles : 4).[0m ×2 + 56.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 56.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308238 ms (missed cycles : 4). + 56.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308238 ms (missed cycles : 4).[0m ×2 + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972558 ms (missed cycles : 3). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972558 ms (missed cycles : 3).[0m ×2 + 58.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms ×2 + 59.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069387 ms (missed cycles : 4). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069387 ms (missed cycles : 4).[0m ×2 + 59.41sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 60.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420861 ms (missed cycles : 5). + 60.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420861 ms (missed cycles : 5).[0m ×2 + 61.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364654 ms (missed cycles : 3). + 61.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364654 ms (missed cycles : 3).[0m ×2 + 62.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602962 ms (missed cycles : 4). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602962 ms (missed cycles : 4).[0m ×2 + 63.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192397 ms (missed cycles : 5). + 63.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192397 ms (missed cycles : 5).[0m ×2 + 64.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396535 ms (missed cycles : 4). + 64.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396535 ms (missed cycles : 4).[0m ×2 + 64.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 65.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701539 ms (missed cycles : 3). + 65.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701539 ms (missed cycles : 3).[0m ×2 + 66.03sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 66.05sWARNros2_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 + 66.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 66.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667738 ms (missed cycles : 5). + 66.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667738 ms (missed cycles : 5).[0m ×2 + 67.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998206 ms (missed cycles : 3). + 67.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998206 ms (missed cycles : 3).[0m ×2 + 68.42sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788551651.22058558 seconds ×3 + 68.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533020 ms (missed cycles : 4). + 68.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533020 ms (missed cycles : 4).[0m ×2 + 68.54sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.54sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.64sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.64sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.95sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788551651.79568815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.332ms + 69.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985032 ms (missed cycles : 4). + 69.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985032 ms (missed cycles : 4).[0m ×2 + 70.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 70.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 71.41sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 71.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 71.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 71.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 245 warnings · 201 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.62sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.62sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077060 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077060 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622104 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622104 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.060ms + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653216 ms (missed cycles : 4). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653216 ms (missed cycles : 4).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 10.08sWARNros2_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 + 10.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.546ms + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918956 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918956 ms (missed cycles : 2).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.839ms + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.178ms + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359499 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359499 ms (missed cycles : 3).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203342 ms (missed cycles : 2). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203342 ms (missed cycles : 2).[0m ×2 + 12.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.411ms + 13.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871006 ms (missed cycles : 5). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871006 ms (missed cycles : 5).[0m ×2 + 13.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.070ms + 14.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120037 ms (missed cycles : 4). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120037 ms (missed cycles : 4).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.396ms + 15.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.517ms + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762627 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762627 ms (missed cycles : 2).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.830ms + 16.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.610ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889964 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889964 ms (missed cycles : 3).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.999ms + 17.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.134ms + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388248 ms (missed cycles : 3). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388248 ms (missed cycles : 3).[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499549 ms (missed cycles : 4). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499549 ms (missed cycles : 4).[0m ×2 + 19.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.251ms + 19.65sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 8.355ms + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798892 ms (missed cycles : 5). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798892 ms (missed cycles : 5).[0m ×2 + 20.24sINFOamclParticle filter update iteration stats: 4146 particles 723 points - 8.049ms + 20.81sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 20.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 20.84sINFOamclParticle filter update iteration stats: 3523 particles 723 points - 7.086ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675821 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675821 ms (missed cycles : 2).[0m ×2 + 21.44sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 6.204ms + 22.03sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 5.242ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919801 ms (missed cycles : 3). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919801 ms (missed cycles : 3).[0m ×2 + 22.64sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 4.911ms + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810065 ms (missed cycles : 3). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810065 ms (missed cycles : 3).[0m ×2 + 23.25sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 4.298ms + 23.90sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 3.081ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187851 ms (missed cycles : 2). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187851 ms (missed cycles : 2).[0m ×2 + 24.53sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.740ms + 25.15sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.379ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180347 ms (missed cycles : 4). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180347 ms (missed cycles : 4).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450758 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450758 ms (missed cycles : 2).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501419 ms (missed cycles : 3). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501419 ms (missed cycles : 3).[0m ×2 + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066259 ms (missed cycles : 4). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066259 ms (missed cycles : 4).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174968 ms (missed cycles : 2). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174968 ms (missed cycles : 2).[0m ×2 + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471365 ms (missed cycles : 4). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471365 ms (missed cycles : 4).[0m ×2 + 31.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601751 ms (missed cycles : 3). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601751 ms (missed cycles : 3).[0m ×2 + 31.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 32.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598979 ms (missed cycles : 4). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598979 ms (missed cycles : 4).[0m ×2 + 33.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 33.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915428 ms (missed cycles : 4). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915428 ms (missed cycles : 4).[0m ×2 + 35.03sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682434 ms (missed cycles : 2). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682434 ms (missed cycles : 2).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577097 ms (missed cycles : 4). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577097 ms (missed cycles : 4).[0m ×2 + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484027 ms (missed cycles : 4). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484027 ms (missed cycles : 4).[0m ×2 + 37.52sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 37.54sWARNros2_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 ×6 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969097 ms (missed cycles : 3). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969097 ms (missed cycles : 3).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375653 ms (missed cycles : 3). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375653 ms (missed cycles : 3).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188689 ms (missed cycles : 2). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188689 ms (missed cycles : 2).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374438 ms (missed cycles : 4). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374438 ms (missed cycles : 4).[0m ×2 + 41.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 42.54sWARNros2_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 + 42.56sWARNros2_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 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976494 ms (missed cycles : 3). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976494 ms (missed cycles : 3).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254305 ms (missed cycles : 3). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254305 ms (missed cycles : 3).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533891 ms (missed cycles : 2). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533891 ms (missed cycles : 2).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842198 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842198 ms (missed cycles : 3).[0m ×2 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206312 ms (missed cycles : 2). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206312 ms (missed cycles : 2).[0m ×2 + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324565 ms (missed cycles : 2). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324565 ms (missed cycles : 2).[0m ×2 + 48.11sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 48.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170661 ms (missed cycles : 2). + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170661 ms (missed cycles : 2).[0m ×2 + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143610 ms (missed cycles : 3). + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143610 ms (missed cycles : 3).[0m ×2 + 50.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.608ms + 51.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445145 ms (missed cycles : 3). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445145 ms (missed cycles : 3).[0m ×2 + 52.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808569 ms (missed cycles : 3). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808569 ms (missed cycles : 3).[0m ×2 + 52.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613721 ms (missed cycles : 4). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613721 ms (missed cycles : 4).[0m ×2 + 53.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 54.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224558 ms (missed cycles : 4). + 54.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224558 ms (missed cycles : 4).[0m ×2 + 55.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111838 ms (missed cycles : 4). + 55.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111838 ms (missed cycles : 4).[0m ×2 + 56.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 56.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078998 ms (missed cycles : 3). + 56.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078998 ms (missed cycles : 3).[0m ×2 + 57.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054856 ms (missed cycles : 2). + 57.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054856 ms (missed cycles : 2).[0m ×2 + 58.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207425 ms (missed cycles : 5). + 58.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207425 ms (missed cycles : 5).[0m ×2 + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673513 ms (missed cycles : 2). + 59.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673513 ms (missed cycles : 2).[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 60.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788551715.13939691 seconds ×3 + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076448 ms (missed cycles : 3). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076448 ms (missed cycles : 3).[0m ×2 + 60.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 61.17sWARNlocal_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 + 61.17sWARNlocal_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 + 61.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.20sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788551715.72459388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.63sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 61.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.398ms + 61.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628041 ms (missed cycles : 4). + 61.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628041 ms (missed cycles : 4).[0m ×2 + 61.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388585 ms (missed cycles : 2). + 62.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388585 ms (missed cycles : 2).[0m ×2 + 63.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232024 ms (missed cycles : 2). + 63.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232024 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 241 warnings · 206 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857146 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857146 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490789 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490789 ms (missed cycles : 2).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961855 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961855 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551426.39144468 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551426.97180223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.558ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006693 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006693 ms (missed cycles : 3).[0m ×2 + 4.68sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418505 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418505 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277636 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277636 ms (missed cycles : 2).[0m ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760909 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760909 ms (missed cycles : 4).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774688 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774688 ms (missed cycles : 3).[0m ×2 + 8.74sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 3.154ms + 9.31sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.924ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673485 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673485 ms (missed cycles : 2).[0m ×2 + 9.85sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.045ms + 10.29sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.43sWARNros2_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 + 10.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms ×3 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172306 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172306 ms (missed cycles : 2).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296035 ms (missed cycles : 4). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296035 ms (missed cycles : 4).[0m ×2 + 12.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912513 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912513 ms (missed cycles : 3).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747838 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747838 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 15.14sWARNros2_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 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517105 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517105 ms (missed cycles : 3).[0m ×2 + 15.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657766 ms (missed cycles : 4). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657766 ms (missed cycles : 4).[0m ×2 + 16.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 16.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857789 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857789 ms (missed cycles : 3).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461072 ms (missed cycles : 3). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461072 ms (missed cycles : 3).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114010 ms (missed cycles : 2). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114010 ms (missed cycles : 2).[0m ×2 + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128941 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128941 ms (missed cycles : 2).[0m ×2 + 20.52sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 21.15sWARNros2_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 + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568228 ms (missed cycles : 4). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568228 ms (missed cycles : 4).[0m ×2 + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 22.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779038 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779038 ms (missed cycles : 3).[0m ×2 + 22.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767457 ms (missed cycles : 4). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767457 ms (missed cycles : 4).[0m ×2 + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694772 ms (missed cycles : 2). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694772 ms (missed cycles : 2).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143705 ms (missed cycles : 2). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143705 ms (missed cycles : 2).[0m ×2 + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 26.54sWARNros2_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 + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060305 ms (missed cycles : 3). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060305 ms (missed cycles : 3).[0m ×2 + 27.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914642 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914642 ms (missed cycles : 2).[0m ×2 + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891121 ms (missed cycles : 3). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891121 ms (missed cycles : 3).[0m ×2 + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882616 ms (missed cycles : 5). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882616 ms (missed cycles : 5).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389195 ms (missed cycles : 2). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389195 ms (missed cycles : 2).[0m ×2 + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558565 ms (missed cycles : 3). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558565 ms (missed cycles : 3).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 33.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.638ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650319 ms (missed cycles : 3). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650319 ms (missed cycles : 3).[0m ×2 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516438 ms (missed cycles : 3). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516438 ms (missed cycles : 3).[0m ×2 + 34.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 34.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214680 ms (missed cycles : 3). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214680 ms (missed cycles : 3).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899074 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899074 ms (missed cycles : 2).[0m ×2 + 36.90sWARNros2_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 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866495 ms (missed cycles : 2). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866495 ms (missed cycles : 2).[0m ×2 + 37.52sWARNros2_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 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041588 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041588 ms (missed cycles : 2).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320723 ms (missed cycles : 4). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320723 ms (missed cycles : 4).[0m ×2 + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819037 ms (missed cycles : 2). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819037 ms (missed cycles : 2).[0m ×2 + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247663 ms (missed cycles : 2). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247663 ms (missed cycles : 2).[0m ×2 + 42.39sWARNros2_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 + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463497 ms (missed cycles : 3). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463497 ms (missed cycles : 3).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459910 ms (missed cycles : 3). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459910 ms (missed cycles : 3).[0m ×2 + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190407 ms (missed cycles : 4). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190407 ms (missed cycles : 4).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787025 ms (missed cycles : 4). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787025 ms (missed cycles : 4).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738376 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738376 ms (missed cycles : 3).[0m ×2 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900048 ms (missed cycles : 3). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900048 ms (missed cycles : 3).[0m ×2 + 48.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153248 ms (missed cycles : 2). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153248 ms (missed cycles : 2).[0m ×2 + 50.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851039 ms (missed cycles : 3). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851039 ms (missed cycles : 3).[0m ×2 + 51.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263123 ms (missed cycles : 4). + 51.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263123 ms (missed cycles : 4).[0m ×2 + 52.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 53.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900463 ms (missed cycles : 2). + 53.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900463 ms (missed cycles : 2).[0m ×2 + 54.09sWARNros2_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 + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592370 ms (missed cycles : 3). + 54.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592370 ms (missed cycles : 3).[0m ×2 + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646448 ms (missed cycles : 4). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646448 ms (missed cycles : 4).[0m ×2 + 55.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910512 ms (missed cycles : 3). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910512 ms (missed cycles : 3).[0m ×2 + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3). + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3).[0m ×2 + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3).[0m ×2 + 59.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5). + 59.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5).[0m ×2 + 60.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 60.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551483.59195399 seconds ×3 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.92sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2). + 60.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2).[0m ×2 + 60.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551484.17346025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.472ms + 61.36sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 61.68sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2).[0m ×2 + 63.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4). + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4).[0m ×2 + 64.04sWARNros2_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 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.9s | 243 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4).[0m ×2 + 0.50sWARNros2_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 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×4 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551522.52824640 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sWARNlocal_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 + 3.74sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551523.10474300 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 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.770ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 6.00sWARNros2_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 ×6 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.53sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.53sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.53sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593828 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593828 ms (missed cycles : 3).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549356 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549356 ms (missed cycles : 3).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.896ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985330 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985330 ms (missed cycles : 2).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.584ms + 10.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.161ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723901 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723901 ms (missed cycles : 3).[0m ×2 + 11.03sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.05sWARNros2_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 + 11.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.651ms + 11.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.405ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983376 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983376 ms (missed cycles : 2).[0m ×2 + 12.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.237ms + 12.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.728ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937753 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937753 ms (missed cycles : 3).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 7.456ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029147 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029147 ms (missed cycles : 2).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 3.457ms + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.057ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799501 ms (missed cycles : 5). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799501 ms (missed cycles : 5).[0m ×2 + 15.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009957 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009957 ms (missed cycles : 2).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 17.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601696 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601696 ms (missed cycles : 3).[0m ×2 + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512961 ms (missed cycles : 4). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512961 ms (missed cycles : 4).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771676 ms (missed cycles : 3). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771676 ms (missed cycles : 3).[0m ×2 + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375194 ms (missed cycles : 4). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375194 ms (missed cycles : 4).[0m ×2 + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998202 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998202 ms (missed cycles : 3).[0m ×2 + 21.96sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 21.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602284 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602284 ms (missed cycles : 2).[0m ×2 + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.337ms + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030831 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030831 ms (missed cycles : 2).[0m ×2 + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140866 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140866 ms (missed cycles : 2).[0m ×2 + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734616 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734616 ms (missed cycles : 2).[0m ×2 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806362 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806362 ms (missed cycles : 3).[0m ×2 + 27.46sWARNros2_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 + 27.48sWARNros2_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 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338078 ms (missed cycles : 5). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338078 ms (missed cycles : 5).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797250 ms (missed cycles : 4). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797250 ms (missed cycles : 4).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067884 ms (missed cycles : 2). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067884 ms (missed cycles : 2).[0m ×2 + 30.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432994 ms (missed cycles : 4). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432994 ms (missed cycles : 4).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932114 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932114 ms (missed cycles : 2).[0m ×2 + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 33.04sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 33.06sWARNros2_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 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488364 ms (missed cycles : 2). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488364 ms (missed cycles : 2).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 34.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649127 ms (missed cycles : 3). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649127 ms (missed cycles : 3).[0m ×2 + 34.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922632 ms (missed cycles : 3). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922632 ms (missed cycles : 3).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435978 ms (missed cycles : 2). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435978 ms (missed cycles : 2).[0m ×2 + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602190 ms (missed cycles : 3). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602190 ms (missed cycles : 3).[0m ×2 + 37.72sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348528 ms (missed cycles : 4). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348528 ms (missed cycles : 4).[0m ×2 + 38.48sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069413 ms (missed cycles : 3). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069413 ms (missed cycles : 3).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627478 ms (missed cycles : 3). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627478 ms (missed cycles : 3).[0m ×2 + 40.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695418 ms (missed cycles : 3). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695418 ms (missed cycles : 3).[0m ×2 + 41.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.347ms + 42.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670237 ms (missed cycles : 3). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670237 ms (missed cycles : 3).[0m ×2 + 43.14sWARNros2_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 + 43.16sWARNros2_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 + 43.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725479 ms (missed cycles : 3). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725479 ms (missed cycles : 3).[0m ×2 + 44.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104424 ms (missed cycles : 4). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104424 ms (missed cycles : 4).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713687 ms (missed cycles : 5). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713687 ms (missed cycles : 5).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866364 ms (missed cycles : 3). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866364 ms (missed cycles : 3).[0m ×2 + 46.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 47.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373199 ms (missed cycles : 3). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373199 ms (missed cycles : 3).[0m ×2 + 48.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 48.74sWARNros2_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 + 48.76sWARNros2_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 + 48.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746023 ms (missed cycles : 4). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746023 ms (missed cycles : 4).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 50.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986116 ms (missed cycles : 3). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986116 ms (missed cycles : 3).[0m ×2 + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558580 ms (missed cycles : 3). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558580 ms (missed cycles : 3).[0m ×2 + 51.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972158 ms (missed cycles : 5). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972158 ms (missed cycles : 5).[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884723 ms (missed cycles : 2). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884723 ms (missed cycles : 2).[0m ×2 + 53.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 54.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688249 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688249 ms (missed cycles : 2).[0m ×2 + 55.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788551574.45487618 seconds ×3 + 55.24sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 55.24sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 55.44sWARNlocal_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 + 55.44sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788551575.03538895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170068 ms (missed cycles : 2). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170068 ms (missed cycles : 2).[0m ×2 + 55.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 56.18sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352689 ms (missed cycles : 3). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352689 ms (missed cycles : 3).[0m ×2 + 58.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696661 ms (missed cycles : 3). + 58.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696661 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 1 error · 181 warnings · 382 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.18sINFOobjective_server_nodecaller: ×12 + 1.18sINFOobjective_server_nodetype: 0 ×12 + 1.18sINFOobjective_server_nodename: "" ×12 + 1.18sINFOobjective_server_nodeinstance_id: "" ×12 + 1.18sINFOobjective_server_node ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_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 ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×6 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017510 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017510 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455160 ms (missed cycles : 4). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455160 ms (missed cycles : 4).[0m ×2 + 8.46sWARNros2_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 ×12 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732332 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732332 ms (missed cycles : 3).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448054 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448054 ms (missed cycles : 3).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008228 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008228 ms (missed cycles : 2).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889650 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889650 ms (missed cycles : 3).[0m ×2 + 12.99sWARNros2_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 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197442 ms (missed cycles : 4). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197442 ms (missed cycles : 4).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329259 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329259 ms (missed cycles : 2).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.774ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710827 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710827 ms (missed cycles : 3).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797030 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797030 ms (missed cycles : 3).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504697 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504697 ms (missed cycles : 3).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459370 ms (missed cycles : 3). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459370 ms (missed cycles : 3).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793899 ms (missed cycles : 4). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793899 ms (missed cycles : 4).[0m ×2 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539668 ms (missed cycles : 4). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539668 ms (missed cycles : 4).[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931294 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931294 ms (missed cycles : 2).[0m ×2 + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009727 ms (missed cycles : 2). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009727 ms (missed cycles : 2).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232292 ms (missed cycles : 2). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232292 ms (missed cycles : 2).[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653953 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653953 ms (missed cycles : 3).[0m ×2 + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943281 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943281 ms (missed cycles : 2).[0m ×2 + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119048 ms (missed cycles : 3). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119048 ms (missed cycles : 3).[0m ×2 + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731210 ms (missed cycles : 4). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731210 ms (missed cycles : 4).[0m ×2 + 28.44sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600566 ms (missed cycles : 2). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600566 ms (missed cycles : 2).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217197 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217197 ms (missed cycles : 2).[0m ×2 + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862217 ms (missed cycles : 2). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862217 ms (missed cycles : 2).[0m ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125056 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125056 ms (missed cycles : 2).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970785 ms (missed cycles : 3). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970785 ms (missed cycles : 3).[0m ×2 + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829878 ms (missed cycles : 2). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829878 ms (missed cycles : 2).[0m ×2 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201849 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201849 ms (missed cycles : 2).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215110 ms (missed cycles : 2). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215110 ms (missed cycles : 2).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609180 ms (missed cycles : 4). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609180 ms (missed cycles : 4).[0m ×2 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022719 ms (missed cycles : 2). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022719 ms (missed cycles : 2).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386430 ms (missed cycles : 3). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386430 ms (missed cycles : 3).[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858157 ms (missed cycles : 3). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858157 ms (missed cycles : 3).[0m ×2 + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571591 ms (missed cycles : 4). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571591 ms (missed cycles : 4).[0m ×2 + 42.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3).[0m ×2 + 44.46sWARNros2_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 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2).[0m ×2 + 46.68sINFOjoint_trajectory_controllerGoal reached, success! + 46.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551420.16759586 seconds ×3 + 46.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3).[0m ×2 + 47.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.25sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551420.74130774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2).[0m ×2 + 48.46sINFOobjective_server_nodeFound path in 0 iterations (7.9454e-05 s). ×2 + 48.54sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2).[0m ×2 + 49.16sWARNros2_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 + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2).[0m ×2 + 50.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 156 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548325 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548325 ms (missed cycles : 3).[0m ×2 + 0.15sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874023 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874023 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870878 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870878 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.25sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788551489.97364235 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790988 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790988 ms (missed cycles : 3).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_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 + 3.27sINFOros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788551491.55808830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935566 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935566 ms (missed cycles : 2).[0m ×2 + 4.63sWARNros2_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 ×4 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858726 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858726 ms (missed cycles : 2).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785195 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785195 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124967 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124967 ms (missed cycles : 2).[0m ×2 + 8.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.326ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957567 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957567 ms (missed cycles : 3).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.161ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980554 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980554 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.374ms + 10.74sWARNros2_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 + 10.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.235ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008688 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008688 ms (missed cycles : 2).[0m ×2 + 11.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.370ms + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.136ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246124 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246124 ms (missed cycles : 2).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.194ms + 13.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.687ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441998 ms (missed cycles : 3). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441998 ms (missed cycles : 3).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.846ms + 14.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.300ms + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446410 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446410 ms (missed cycles : 3).[0m ×2 + 14.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.678ms + 15.37sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.307ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131785 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131785 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.234ms + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329738 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329738 ms (missed cycles : 2).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 8.002ms + 17.24sINFOamclParticle filter update iteration stats: 3658 particles 723 points - 8.238ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890797 ms (missed cycles : 5). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890797 ms (missed cycles : 5).[0m ×2 + 17.87sINFOamclParticle filter update iteration stats: 2826 particles 723 points - 7.084ms + 18.46sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 3.752ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935801 ms (missed cycles : 3). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935801 ms (missed cycles : 3).[0m ×2 + 19.07sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 2.692ms + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.265ms + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117902 ms (missed cycles : 3). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117902 ms (missed cycles : 3).[0m ×2 + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369069 ms (missed cycles : 5). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369069 ms (missed cycles : 5).[0m ×2 + 20.92sWARNros2_control_nodeCamera render tick took 0.67 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 21.55sWARNros2_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 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180649 ms (missed cycles : 4). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180649 ms (missed cycles : 4).[0m ×2 + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507450 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507450 ms (missed cycles : 2).[0m ×2 + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187592 ms (missed cycles : 3). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187592 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388488 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388488 ms (missed cycles : 2).[0m ×2 + 25.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996694 ms (missed cycles : 2). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996694 ms (missed cycles : 2).[0m ×2 + 26.45sWARNros2_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 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 27.10sWARNros2_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 + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852092 ms (missed cycles : 2). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852092 ms (missed cycles : 2).[0m ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568275 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568275 ms (missed cycles : 3).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685831 ms (missed cycles : 4). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685831 ms (missed cycles : 4).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421051 ms (missed cycles : 3). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421051 ms (missed cycles : 3).[0m ×2 + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4).[0m ×2 + 32.08sWARNros2_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 + 32.10sWARNros2_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 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2).[0m ×2 + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3).[0m ×2 + 34.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2).[0m ×2 + 34.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551522.52824640 seconds ×3 + 34.92sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.92sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.32sWARNlocal_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 + 35.32sWARNlocal_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 + 35.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551523.10474300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3).[0m ×2 + 35.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 35.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.770ms + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.1s | 104 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054856 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054856 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207425 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207425 ms (missed cycles : 5).[0m ×2 + 1.74sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.76sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673513 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673513 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788551715.13939691 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076448 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076448 ms (missed cycles : 3).[0m ×2 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.67sWARNlocal_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 + 3.67sWARNlocal_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 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788551715.72459388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.398ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628041 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628041 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388585 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388585 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232024 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232024 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 + 6.98sWARNros2_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 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045081 ms (missed cycles : 5). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045081 ms (missed cycles : 5).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156781 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156781 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779156 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779156 ms (missed cycles : 3).[0m ×2 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.18sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 10.34sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 10.49sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762279 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762279 ms (missed cycles : 2).[0m ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.89sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 11.28sINFOobjective_server_nodeFound path in 33 iterations (0.0422953 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153817 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153817 ms (missed cycles : 2).[0m ×2 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 12.18sWARNros2_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 + 12.20sWARNros2_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 + 12.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.46sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070016 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070016 ms (missed cycles : 3).[0m ×2 + 13.04sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.30sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762069 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762069 ms (missed cycles : 2).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822896 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822896 ms (missed cycles : 3).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.040ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097996 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097996 ms (missed cycles : 3).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.638ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583783 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583783 ms (missed cycles : 2).[0m ×2 + 17.26sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.696ms + 17.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.030ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.588ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4).[0m ×2 + 19.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551731.25984478 seconds ×3 + 19.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551731.87317753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.90sINFOmove_groupClearing octomap...[0m ×2 + 19.90sINFOmove_groupOctomap cleared.[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.452ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2).[0m ×2 + 20.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551732.46330070 seconds ×3 + 21.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551733.03769565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3).[0m ×2 + 21.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.61782837 seconds ×3 + 21.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.33sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 22.35sWARNros2_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 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.1s | 3 errors · 92 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972158 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972158 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884723 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884723 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 2.02sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.04sWARNros2_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 ×4 + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688249 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688249 ms (missed cycles : 2).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788551574.45487618 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_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 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788551575.03538895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170068 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170068 ms (missed cycles : 2).[0m ×2 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352689 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352689 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696661 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696661 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.26sWARNros2_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 + 7.28sWARNros2_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 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813701 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813701 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896468 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896468 ms (missed cycles : 2).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.034ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233112 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233112 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.645ms + 10.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.335ms + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233785 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233785 ms (missed cycles : 2).[0m ×2 + 10.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.459ms + 11.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.553ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159978 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159978 ms (missed cycles : 2).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.164ms + 12.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.670ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591193 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591193 ms (missed cycles : 3).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.582ms + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995363 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995363 ms (missed cycles : 2).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 4446 particles 723 points - 8.054ms + 14.02sINFOobjective_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 + 14.03sINFOjoint_trajectory_controllerGot request to cancel goal + 14.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.06sERRORobjective_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: 1788551585.51781750 seconds ×3 + 14.18sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 14.18sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 14.31sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 5.434ms + 14.38sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.38sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788551586.09991884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940956 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940956 ms (missed cycles : 2).[0m ×2 + 14.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.562ms + 15.13sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500308 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500308 ms (missed cycles : 2).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495546 ms (missed cycles : 3). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495546 ms (missed cycles : 3).[0m ×2 + 17.78sWARNros2_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 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 111 errors · 37 warnings · 517 info |
+ 0.00sWARNros2_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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.696ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.030ms + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.588ms + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4).[0m ×2 + 2.01sINFOjoint_trajectory_controllerGoal reached, success! + 2.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551731.25984478 seconds ×3 + 2.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.57sINFOobjective_server_nodecaller: ×4 + 2.57sINFOobjective_server_nodetype: 0 ×4 + 2.57sINFOobjective_server_nodename: "" ×4 + 2.57sINFOobjective_server_nodeinstance_id: "" ×4 + 2.57sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551731.87317753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.65sINFOmove_groupClearing octomap...[0m ×2 + 2.65sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.452ms + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551732.46330070 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551733.03769565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3).[0m ×2 + 4.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.61782837 seconds ×3 + 4.63sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.07sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946279 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946279 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113388 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113388 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929170 ms (missed cycles : 4). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929170 ms (missed cycles : 4).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882675 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882675 ms (missed cycles : 2).[0m ×2 + 9.91sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.95sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.95sERRORweb_video_auth_proxy-38process has died [pid 7801, 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 + 9.95sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.96sERRORweb_bridge_auth_proxy-37process has died [pid 7796, 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 + 9.96sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.97sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.98sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.99sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.00sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.01sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.02sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.03sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.04sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.05sINFOvideo_server-36process has finished cleanly [pid 7794] ×2 + 10.05sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.07sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.08sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.10sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.10sINFOcontroller_managerShutdown request received.... + 10.10sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.10sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.10sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.10sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.10sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.10sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.10sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.10sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.10sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.10sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.10sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.10sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.10sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.10sINFOcontroller_managerShutting down the controller manager. + 10.11sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.12sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.13sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.14sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.14sERRORmove_group-24process has died [pid 7755, 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_55a3_24t --params-file /tmp/launch_params_1hw00qmz --params-file /tmp/launch_params_9xgd8r48 --params-file /tmp/launch_params_nhjsr9bl --params-file /tmp/launch_params_siqljuos --params-file /tmp/launch_params_g22lqpds']. ×2 + 10.15sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.16sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.17sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.18sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.19sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.20sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.20sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.20sINFOmap_serverDeactivating + 10.20sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.21sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.21sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.21sINFOcontroller_serverDeactivating + 10.21sINFOlocal_costmap.local_costmapDeactivating + 10.21sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.21sINFOvideo_server2026/09/04 19:55:39 INF shutting down gracefully ×2 + 10.21sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOmap_serverCleaning up + 10.21sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.21sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.21sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.21sINFOvideo_server2026/09/04 19:55:39 INF [WebRTC] closing ×2 + 10.21sINFOvideo_server2026/09/04 19:55:39 INF [RTSP] closing ×2 + 10.21sINFOvideo_server2026/09/04 19:55:39 INF waiting for running hooks ×2 + 10.21sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.21sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.21sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.21sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.21sERRORmove_groupStack trace (most recent call last) in thread 8406: ×2 + 10.21sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.21sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4c56832a63, in __clone ×2 + 10.21sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4c567a5aa3, in ×2 + 10.21sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4c56a37db3, in ×2 + 10.22sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f4c5719ca94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.22sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4c56dc9620, in rclcpp::Rate::sleep() ×2 + 10.22sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.22sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.22sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.22sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.22sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.22sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.22sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.22sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.22sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.22sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.22sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.22sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.22sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.22sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.22sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4c56d0bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.22sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4c56ccd087, in ×2 + 10.22sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4c56a06390, in __cxa_throw ×2 + 10.22sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4c569f0a54, in std::terminate() ×2 + 10.22sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4c56a060d9, in ×2 + 10.22sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4c569f0ff4, in ×2 + 10.22sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4c567318fe, in abort ×2 + 10.22sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4c5674e27d, in raise ×2 + 10.22sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4c567a7b2c, in pthread_kill ×2 + 10.22sERRORmove_groupAborted (Signal sent by tkill() 7755 0) ×2 + 10.22sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.22sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.22sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.22sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.22sINFOodom_qos_relay.pymain() ×2 + 10.22sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.22sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.22sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.22sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.22sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.22sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.22sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.22sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.22sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.22sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.22sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.22sINFOcontroller_serverCleaning up + 10.22sINFOlocal_costmap.local_costmapCleaning up + 10.23sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.23sERRORamclThe bond connection to the lifecycle manager has been broken + 10.27sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.27sINFOsmoother_serverDeactivating + 10.27sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.28sINFOsmoother_serverCleaning up + 10.29sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.29sINFOplanner_serverDeactivating + 10.29sINFOglobal_costmap.global_costmapDeactivating + 10.32sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.32sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.33sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.33sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.34sINFOplanner_serverCleaning up + 10.36sINFOglobal_costmap.global_costmapCleaning up + 10.37sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.37sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.38sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.38sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.38sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.38sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.38sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.38sINFOvelocity_smootherDeactivating + 10.38sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.41sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.41sINFObehavior_serverDeactivating + 10.41sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.42sINFObehavior_serverCleaning up + 10.43sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.43sINFObt_navigatorDeactivating + 10.43sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.44sINFObt_navigatorCleaning up + 10.49sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.49sINFOwaypoint_followerDeactivating + 10.49sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.58sWARNros2_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 + 10.60sINFObt_navigatorCompleted Cleaning up + 10.60sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.60sINFOwaypoint_followerCleaning up + 10.61sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.61sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.61sINFOvelocity_smootherCleaning up + 10.61sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.63sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.63sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 10.63sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.63sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.63sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.63sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.63sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.63sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.63sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.63sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.63sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.63sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.63sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.63sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.63sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.64sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.64sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.65sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.65sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.65sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.65sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.65sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.65sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.65sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.65sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.65sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.66sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.66sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.66sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.96sERRORcomponent_container_isolated-1process has died [pid 7622, 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_a5vut_2a --params-file /tmp/launch_params_iwrgbtx9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.02sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7793] ×2 + 11.02sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.10sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7786] ×2 + 11.10sINFOui_teleop_bridge-33process has finished cleanly [pid 7791] ×2 + 11.11sINFOexecute_objective_bridge-32process has finished cleanly [pid 7790] ×2 + 11.11sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7785] ×2 + 11.14sINFOcomponent_container_mt-31process has finished cleanly [pid 7789] ×2 + 11.15sINFOparameter_manager_node-25process has finished cleanly [pid 7781] ×2 + 11.16sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7713] ×2 + 11.16sINFOwaypoint_manager_node-26process has finished cleanly [pid 7782] ×2 + 11.17sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7712] ×2 + 11.18sINFOstatic_transform_publisher-9process has finished cleanly [pid 7630] ×2 + 11.18sINFOstatic_transform_publisher-8process has finished cleanly [pid 7629] ×2 + 11.19sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.19sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.19sINFOlidar_flattener.pymain() ×2 + 11.19sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.19sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.19sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.19sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.19sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.19sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.19sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.19sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.19sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.19sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.19sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.22sINFOobjective_server_node[2026-09-04 19:55:40.448] [moveit_pro_license] [critical] ×2 + 11.22sINFOobjective_server_node************************************************* ×4 + 11.22sINFOobjective_server_node* MoveIt Pro License ×2 + 11.22sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.23sINFOstatic_transform_publisher-4process has finished cleanly [pid 7625] ×2 + 11.24sERRORlidar_flattener.py-7process has died [pid 7628, 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_4zms9oi_']. ×2 + 11.24sINFOstatic_transform_publisher-3process has finished cleanly [pid 7624] ×2 + 11.28sERRORodom_qos_relay.py-5process has died [pid 7626, 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 + 11.28sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7627] ×2 + 11.29sINFOobjective_server_node_main-29process has finished cleanly [pid 7787] ×2 + 11.29sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.23sINFOcomponent_container_mt-30process has finished cleanly [pid 7788] ×2 + 12.59sERRORcomponent_container_isolated-2process has died [pid 7623, 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_a5vut_2a --params-file /tmp/launch_params_vijl4eny -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.71sINFOweb_bridge-34process has finished cleanly [pid 7792] ×2 + 12.72sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 12.84sINFOros2_control_node-12process has finished cleanly [pid 7714] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 67 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_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 + 1.94sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 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: 1788551483.59195399 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 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551484.17346025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.472ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548325 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548325 ms (missed cycles : 3).[0m ×2 + 7.04sWARNros2_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 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874023 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874023 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870878 ms (missed cycles : 3). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870878 ms (missed cycles : 3).[0m ×2 + 9.14sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788551489.97364235 seconds ×3 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790988 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790988 ms (missed cycles : 3).[0m ×2 + 10.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788551491.55808830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935566 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935566 ms (missed cycles : 2).[0m ×2 + 11.52sWARNros2_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 + 12.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858726 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858726 ms (missed cycles : 2).[0m ×2 + 12.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785195 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785195 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 63 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701539 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701539 ms (missed cycles : 3).[0m ×2 + 0.68sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667738 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667738 ms (missed cycles : 5).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998206 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998206 ms (missed cycles : 3).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 3.02sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.02sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788551651.22058558 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533020 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533020 ms (missed cycles : 4).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788551651.79568815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.332ms + 4.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985032 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985032 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 9.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 10.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.11sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 10.55sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 11.17sWARNros2_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 + 11.19sWARNros2_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 ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 12.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 51 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3).[0m ×2 + 0.37sWARNros2_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 + 0.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551420.16759586 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551420.74130774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (7.9454e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2).[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857146 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857146 ms (missed cycles : 2).[0m ×2 + 7.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490789 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490789 ms (missed cycles : 2).[0m ×2 + 8.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961855 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961855 ms (missed cycles : 3).[0m ×2 + 9.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551426.39144468 seconds ×3 + 9.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.98sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 10.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551426.97180223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.38sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.558ms + 10.40sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006693 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006693 ms (missed cycles : 3).[0m ×2 + 10.94sWARNros2_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 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418505 ms (missed cycles : 4). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418505 ms (missed cycles : 4).[0m ×2 + 12.58sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277636 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277636 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 32 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097996 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097996 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.638ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583783 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583783 ms (missed cycles : 2).[0m ×2 + 1.15sWARNros2_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 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.696ms + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.030ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.588ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551731.25984478 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551731.87317753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.80sINFOmove_groupClearing octomap...[0m ×2 + 3.80sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.452ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551732.46330070 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551733.03769565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3).[0m ×2 + 5.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.61782837 seconds ×3 + 5.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946279 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946279 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_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 + 1.94sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 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: 1788551483.59195399 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 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_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 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551484.17346025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.472ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal + 4.09sINFOjoint_trajectory_controllerAccepted new action goal + 4.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_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 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 1 error · 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017510 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017510 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 29 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3).[0m ×2 + 0.37sWARNros2_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 + 0.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551420.16759586 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551420.74130774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (7.9454e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNros2_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 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2).[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 29 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371105 ms (missed cycles : 3).[0m ×2 + 0.37sWARNros2_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 + 0.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372679 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826567 ms (missed cycles : 2).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551420.16759586 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602931 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551420.74130774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190528 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (7.9454e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874452 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.27sWARNros2_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 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2).[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms | ||||
| − 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 (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 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: 1788551374.68159866 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: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 4.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 75 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319810 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857146 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857146 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490789 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490789 ms (missed cycles : 2).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961855 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961855 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551426.39144468 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551426.97180223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.558ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006693 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006693 ms (missed cycles : 3).[0m ×2 + 4.68sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418505 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418505 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277636 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277636 ms (missed cycles : 2).[0m ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_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 + 1.94sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 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: 1788551483.59195399 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 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_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 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551484.17346025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.472ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal + 4.09sINFOjoint_trajectory_controllerAccepted new action goal + 4.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_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 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_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 + 1.94sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 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: 1788551483.59195399 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 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_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 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551484.17346025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.472ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal + 4.09sINFOjoint_trajectory_controllerAccepted new action goal + 4.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_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 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_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 + 1.94sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 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: 1788551483.59195399 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 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_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 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551484.17346025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.472ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal + 4.09sINFOjoint_trajectory_controllerAccepted new action goal + 4.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_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 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752767 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554944 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_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 + 1.94sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979635 ms (missed cycles : 5).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 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: 1788551483.59195399 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 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_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 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295972 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551484.17346025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.472ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal + 4.09sINFOjoint_trajectory_controllerAccepted new action goal + 4.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546950 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632109 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_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 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 47 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4).[0m ×2 + 0.50sWARNros2_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 + 0.52sWARNros2_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 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551522.52824640 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sWARNlocal_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 + 3.74sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551523.10474300 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 ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.770ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_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 + 6.00sWARNros2_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 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 47 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4).[0m ×2 + 0.50sWARNros2_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 + 0.52sWARNros2_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 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551522.52824640 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sWARNlocal_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 + 3.74sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551523.10474300 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 ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.770ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_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 + 6.00sWARNros2_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 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 47 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843578 ms (missed cycles : 4).[0m ×2 + 0.50sWARNros2_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 + 0.52sWARNros2_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 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697276 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932860 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799301 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551522.52824640 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sWARNlocal_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 + 3.74sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551523.10474300 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 ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476526 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.770ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750170 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_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 + 6.00sWARNros2_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 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902499 ms (missed cycles : 5).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_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 (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 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: 1788551374.68159866 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: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 4.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_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 (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 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: 1788551374.68159866 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: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 4.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483193 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092975 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212182 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834429 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551657.71582055 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551658.29927516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248126 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.84sWARNros2_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 + 4.86sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139972 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753979 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 29 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097996 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097996 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.638ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583783 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583783 ms (missed cycles : 2).[0m ×2 + 1.15sWARNros2_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 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.696ms + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.030ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873696 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.588ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529827 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551731.25984478 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551731.87317753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.80sINFOmove_groupClearing octomap...[0m ×2 + 3.80sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.452ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551732.46330070 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551733.03769565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764149 ms (missed cycles : 3).[0m ×2 + 5.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.61782837 seconds ×3 + 5.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047594 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
▾
/__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 | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 1 error · 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.22sINFOobjective_server_nodecaller: ×10 + 2.22sINFOobjective_server_nodetype: 0 ×10 + 2.22sINFOobjective_server_nodename: "" ×10 + 2.22sINFOobjective_server_nodeinstance_id: "" ×10 + 2.22sINFOobjective_server_node ×10 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 7.12sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 303 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588270 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588270 ms (missed cycles : 3).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.69sINFOobjective_server_nodecaller: ×10 + 3.69sINFOobjective_server_nodetype: 0 ×10 + 3.69sINFOobjective_server_nodename: "" ×10 + 3.69sINFOobjective_server_nodeinstance_id: "" ×10 + 3.69sINFOobjective_server_node ×10 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 5.07sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_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 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_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 (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 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: 1788551374.68159866 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: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 4.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.03sINFOjoint_trajectory_controllerReceived new action goal + 7.03sINFOjoint_trajectory_controllerAccepted new action goal + 7.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 26 warnings · 300 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588270 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588270 ms (missed cycles : 3).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.69sINFOobjective_server_nodecaller: ×10 + 3.69sINFOobjective_server_nodetype: 0 ×10 + 3.69sINFOobjective_server_nodename: "" ×10 + 3.69sINFOobjective_server_nodeinstance_id: "" ×10 + 3.69sINFOobjective_server_node ×10 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 5.07sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_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 + 5.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 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: 1788551374.68159866 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: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 4.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_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 (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 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: 1788551374.68159866 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: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 4.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_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 (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 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: 1788551374.68159866 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: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 4.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_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 6.621391 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621391 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.22sINFOobjective_server_nodecaller: ×10 + 2.22sINFOobjective_server_nodetype: 0 ×10 + 2.22sINFOobjective_server_nodename: "" ×10 + 2.22sINFOobjective_server_nodeinstance_id: "" ×10 + 2.22sINFOobjective_server_node ×10 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 1 error · 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017510 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017510 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 1 error · 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725451 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.18sINFOobjective_server_nodecaller: ×10 + 1.18sINFOobjective_server_nodetype: 0 ×10 + 1.18sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172100 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551374.67136550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551374.68159866 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551375.25325894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551375.26337504 seconds ×3 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551375.83010101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892433 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551375.98059654 seconds ×3 + 2.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551376.57183337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sWARNros2_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 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551376.63195896 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769861 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551377.20520043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051418 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789709 ms (missed cycles : 2).[0m ×2 + 6.08sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1788551378.892645 but the latest data is at time 1788551378.318172, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||