MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.1s	12 errors · 321 warnings · 1522 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-17-22-34-911272-d20fbac87430-7531 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.31sINFOstatic_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' + 4.31sINFOstatic_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' + 4.31sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.32sINFOstatic_tf_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' + 4.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.59sINFOcontroller_managerupdate rate is 600 Hz + 4.59sINFOcontroller_managerOverruns handling is : enabled + 4.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.59sWARNcontroller_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. + 4.61sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592216 ms (missed cycles : 3). + 4.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.65sINFOcontroller_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. + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.68sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.69sINFOros2_control_node-12process started with pid [7673] ×2 + 4.69sINFOmove_group-24process started with pid [7687] ×2 + 4.69sINFOparameter_manager_node-25process started with pid [7736] ×2 + 4.69sINFOwaypoint_manager_node-26process started with pid [7737] ×2 + 4.69sINFOmove_joint_resampler_node-27process started with pid [7738] ×2 + 4.69sINFOmove_end_effector_resampler_node-28process started with pid [7739] ×2 + 4.69sINFOobjective_server_node_main-29process started with pid [7740] ×2 + 4.69sINFOcomponent_container_mt-30process started with pid [7741] ×2 + 4.69sINFOcomponent_container_mt-31process started with pid [7760] ×2 + 4.69sINFOexecute_objective_bridge-32process started with pid [7761] ×2 + 4.70sINFOui_teleop_bridge-33process started with pid [7764] ×2 + 4.70sINFOweb_bridge-34process started with pid [7769] ×2 + 4.70sINFOtf2_web_republisher_node-35process started with pid [7774] ×2 + 4.70sINFOvideo_server-36process started with pid [7779] ×2 + 4.70sINFOweb_bridge_auth_proxy-37process started with pid [7784] ×2 + 4.70sINFOweb_video_auth_proxy-38process started with pid [7786] ×2 + 4.70sINFOcontroller_serverCreating controller server + 4.70sINFOcomponent_container_isolated-1process started with pid [7581] ×2 + 4.70sINFOcomponent_container_isolated-2process started with pid [7582] ×2 + 4.70sINFOstatic_transform_publisher-3process started with pid [7583] ×2 + 4.70sINFOstatic_transform_publisher-4process started with pid [7584] ×2 + 4.70sINFOodom_qos_relay.py-5process started with pid [7585] ×2 + 4.70sINFOforward_stereo_publisher.py-6process started with pid [7586] ×2 + 4.70sINFOlidar_flattener.py-7process started with pid [7587] ×2 + 4.70sINFOstatic_transform_publisher-8process started with pid [7588] ×2 + 4.70sINFOstatic_transform_publisher-9process started with pid [7589] ×2 + 4.70sINFOscan_to_scan_filter_chain-10process started with pid [7671] ×2 + 4.70sINFOscan_to_scan_filter_chain-11process started with pid [7672] ×2 + 4.70sINFOros2-13process started with pid [7674] ×2 + 4.70sINFOros2-14process started with pid [7675] ×2 + 4.70sINFOros2-15process started with pid [7676] ×2 + 4.70sINFOros2-16process started with pid [7677] ×2 + 4.70sINFOros2-17process started with pid [7678] ×2 + 4.70sINFOros2-18process started with pid [7681] ×2 + 4.70sINFOros2-19process started with pid [7682] ×2 + 4.70sINFOros2-20process started with pid [7683] ×2 + 4.70sINFOros2-21process started with pid [7684] ×2 + 4.70sINFOros2-22process started with pid [7685] ×2 + 4.70sINFOros2-23process started with pid [7686] ×2 + 4.74sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.74sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.74sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.74sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.74sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.74sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.75sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.75sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.75sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592216 ms (missed cycles : 3).[0m ×2 + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.75sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.77sINFOlocal_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. + 4.78sINFOlocal_costmap.local_costmapCreating Costmap + 4.78sINFOmap_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. + 4.78sINFOmap_serverCreating + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.80sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.81sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.81sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.82sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.83sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.84sINFOsmoother_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. + 4.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.88sINFOsmoother_serverCreating smoother server + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.90sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.93sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.94sINFOlifecycle_manager_localizationCreating + 4.96sINFOplanner_serverCreating + 4.97sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.97sINFOrobot_state_publisherRobot initialized + 4.97sINFOcontroller_managerReceived robot description from topic. + 4.97sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.98sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.98sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.98sINFOmap_serverConfiguring + 5.00sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.00sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.00sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.01sINFOglobal_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. + 5.01sINFOglobal_costmap.global_costmapCreating Costmap + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.06sINFOvideo_server2026/09/04 17:22:41 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.06sINFOvideo_server2026/09/04 17:22:41 INF configuration loaded from /tmp/moveit-webrtc-95r1k282/mediamtx.yml ×2 + 5.07sINFOvideo_server2026/09/04 17:22:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.07sINFOvideo_server2026/09/04 17:22:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.10sINFObehavior_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. + 5.12sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.12sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.12sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.12sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.12sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.12sINFOamclConfiguring + 5.13sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.13sINFOmap_serverActivating + 5.13sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.14sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.22sINFObt_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. + 5.26sINFObt_navigatorCreating + 5.26sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.26sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.26sINFOamclActivating + 5.26sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.26sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.26sINFOamclSubscribed to map_topic: /map + 5.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.27sINFOamclSubscribed to scan_topic: /scan_merged + 5.27sINFOamclCreated reinitialize_global_localization service + 5.27sINFOamclCreated request_nomotion_update service + 5.27sINFOamclA new map was received + 5.27sINFOamclInitializing particle filter instance + 5.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.31sINFOwaypoint_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. + 5.32sINFOwaypoint_followerCreating + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.37sINFOvelocity_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. + 5.38sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.42sINFOlifecycle_manager_navigationCreating + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.45sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.46sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.46sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.46sINFOcontroller_serverConfiguring controller interface + 5.46sINFOcontroller_servergetting progress checker plugins.. + 5.46sINFOcontroller_servergetting goal checker plugins.. + 5.46sINFOcontroller_serverController frequency set to 20.0000Hz + 5.46sINFOlocal_costmap.local_costmapConfiguring + 5.47sWARNlaser_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. + 5.47sWARNscan_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 + 5.48sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.50sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.53sWARNlaser_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. + 5.55sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.55sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.58sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.59sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.561043 seconds + 5.60sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.60sINFOmove_groupLoaded robot model in 0.561043 seconds[0m ×2 + 5.60sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.60sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.60sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.61sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.61sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.61sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.041308 ms (missed cycles : 7). + 5.61sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.041308 ms (missed cycles : 7).[0m ×2 + 5.63sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.64sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.64sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.66sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.66sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.67sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.67sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.68sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.68sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.69sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.69sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.71sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.72sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.72sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.73sINFOcontroller_serverOptimizer reset ×2 + 5.75sINFOcontroller_serverController Server has FollowPath controllers available. + 5.79sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.79sINFOsmoother_serverConfiguring smoother server + 5.80sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.80sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.81sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.81sINFOplanner_serverConfiguring + 5.81sINFOglobal_costmap.global_costmapConfiguring + 5.82sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.83sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.84sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.84sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.84sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.88sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 5.88sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.89sINFOamclParticle filter initialization completed + 5.89sINFOamclInitializing particles from estimated pose and covariance + 5.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.92sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.92sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.93sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.97sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.97sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.97sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.97sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.97sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.97sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.98sINFOplanner_serverPlanner Server has GridBased planners available. + 6.00sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.00sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.00sINFObehavior_serverConfiguring + 6.01sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.01sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.02sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.03sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.04sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.05sINFObehavior_serverConfiguring spin + 6.07sINFObehavior_serverConfiguring backup + 6.09sINFObehavior_serverConfiguring drive_on_heading + 6.10sINFObehavior_serverConfiguring assisted_teleop + 6.12sINFObehavior_serverConfiguring wait + 6.13sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.13sINFObt_navigatorConfiguring + 6.14sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.15sWARNbt_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 + 6.21sINFOwaypoint_manager_nodeLoaded robot model in 0.33696 seconds[0m ×2 + 6.21sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.22sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.29sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.33sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.33sINFOwaypoint_followerConfiguring + 6.36sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.36sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.36sINFOvelocity_smootherConfiguring velocity smoother + 6.37sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.37sINFOcontroller_serverActivating + 6.37sINFOlocal_costmap.local_costmapActivating + 6.37sINFOlocal_costmap.local_costmapChecking transform + 6.37sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×9 + 6.41sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.41sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.41sWARNmove_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. + 6.41sWARNmove_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. + 6.41sWARNmove_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 + 6.41sWARNmove_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. + 6.41sWARNmove_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. + 6.41sWARNmove_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 + 6.41sWARNmove_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 + 6.41sWARNmove_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. + 6.41sWARNmove_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 + 6.41sWARNmove_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. + 6.41sWARNmove_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 + 6.41sWARNmove_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 + 6.41sWARNmove_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. + 6.41sWARNmove_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. + 6.41sWARNmove_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 + 6.41sWARNmove_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. + 6.41sWARNmove_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. + 6.41sWARNmove_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 + 6.41sWARNmove_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 + 6.41sWARNmove_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 + 6.48sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.48sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.48sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.48sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.50sINFOros2_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 + 6.50sINFOros2_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sINFOmove_group[2026-09-04 17:22:43.205] [moveit_pro_license] [info] ×2 + 6.60sWARNwaypoint_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. + 6.60sINFOmove_group************************************************* ×4 + 6.60sINFOmove_group* MoveIt Pro License ×2 + 6.60sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674600 ms (missed cycles : 2). + 6.62sWARNwaypoint_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. + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674600 ms (missed cycles : 2).[0m ×2 + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.63sWARNwaypoint_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. + 6.63sWARNwaypoint_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 + 6.64sWARNwaypoint_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. + 6.64sWARNwaypoint_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. + 6.64sWARNwaypoint_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 + 6.64sWARNwaypoint_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 + 6.64sWARNwaypoint_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. + 6.64sWARNwaypoint_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 + 7.03sINFOwaypoint_manager_node[2026-09-04 17:22:43.638] [moveit_pro_license] [info] ×2 + 7.03sINFOwaypoint_manager_node************************************************* ×4 + 7.03sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.03sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.09sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.09sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.09sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.09sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.09sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.09sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.09sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.10sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.10sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.10sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.10sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.10sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.10sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.39sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.39sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.39sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.39sWARNros2_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 + 7.39sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.39sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.39sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.39sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.39sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.39sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.39sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.39sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.39sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.39sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.39sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.39sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.39sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.39sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.39sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.39sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.39sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.39sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.39sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.39sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.40sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.40sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.40sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.40sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 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 + 7.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.64sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.64sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.64sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 7.65sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 7.66sINFOros2_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 + 7.66sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.66sWARNros2_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 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360430 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360430 ms (missed cycles : 2).[0m ×2 + 7.69sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.69sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.69sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.69sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.70sINFOplatform_velocity_controller_nav2configure successful + 7.70sINFOros2_control_nodeconfigure successful[0m ×6 + 7.98sINFOros2-18process has finished cleanly [pid 7681] ×2 + 7.99sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.99sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.02sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.03sINFOobjective_server_node[2026-09-04 17:22:44.634] [moveit_pro_license] [info] ×2 + 8.03sINFOobjective_server_node************************************************* ×4 + 8.03sINFOobjective_server_node* MoveIt Pro License ×2 + 8.03sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.10sINFOobjective_server_nodeLoaded robot model in 0.0336983 seconds[0m ×2 + 8.10sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.10sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 8.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 8.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.24sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.24sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.26sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.26sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.32sWARNcomponent_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 + 8.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.60sWARNobjective_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. + 8.60sWARNobjective_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 + 8.60sWARNobjective_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. + 8.61sWARNobjective_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 + 8.61sWARNobjective_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. + 8.61sWARNobjective_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. + 8.61sWARNobjective_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 + 8.61sWARNobjective_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 + 8.61sWARNobjective_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. + 8.61sWARNobjective_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. + 8.61sWARNobjective_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 + 8.61sWARNobjective_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 + 8.61sWARNobjective_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. + 8.61sWARNobjective_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. + 8.61sWARNobjective_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 + 8.61sWARNobjective_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 + 8.61sWARNobjective_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. + 8.61sWARNobjective_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. + 8.61sWARNobjective_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 + 8.61sWARNobjective_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 + 8.67sINFOobjective_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 + 8.67sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.69sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.69sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702775 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702775 ms (missed cycles : 2).[0m ×2 + 8.71sINFOros2_control_node[2026-09-04 17:22:45.317] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.72sINFOros2_control_node[2026-09-04 17:22:45.320] [info] Controller state will be published at 10 Hz. ×2 + 8.72sINFOros2_control_node[2026-09-04 17:22:45.322] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.76sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.76sINFOcomponent_container_mtLoaded robot model in 0.446872 seconds[0m ×2 + 8.76sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.76sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.76sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.84sINFOmove_groupMoveGroup debug mode is ON + 8.84sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.84sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.88sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.88sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.88sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.88sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.88sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.89sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.00sINFOmove_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 ****************************************************** + 9.01sINFOmove_group ×8 + 9.01sINFOmove_group****************************************************** ×4 + 9.01sINFOmove_group* MoveGroup using: ×2 + 9.01sINFOmove_group* - apply_planning_scene_service ×2 + 9.01sINFOmove_group* - clear_octomap_service ×2 + 9.01sINFOmove_group* - get_group_urdf ×2 + 9.01sINFOmove_group* - load_geometry_from_file ×2 + 9.01sINFOmove_group* - get_planning_scene_service ×2 + 9.01sINFOmove_group* - kinematics_service ×2 + 9.01sINFOmove_group* - save_geometry_to_file ×2 + 9.01sINFOmove_group* - GetPlanningGroups ×2 + 9.01sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.01sINFOmove_group[0m ×2 + 9.01sINFOmove_group[92mYou can start planning now![0m ×2 + 9.04sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.04sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.05sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.05sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.10sINFOros2-20process has finished cleanly [pid 7683] ×2 + 9.11sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 9.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 9.16sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.16sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.16sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.16sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_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 + 9.37sINFOcomponent_container_mt[2026-09-04 17:22:45.976] [moveit_pro_license] [info] ×2 + 9.37sINFOcomponent_container_mt************************************************* ×4 + 9.37sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.43sWARNros2_control_nodeCamera render tick took 0.98 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.46sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.46sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.46sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.46sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.54sINFOros2_control_node[2026-09-04 17:22:46.141] [info] Controller state will be published at 20 Hz. ×2 + 9.54sINFOros2_control_node[2026-09-04 17:22:46.142] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.74sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.74sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202087 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202087 ms (missed cycles : 2).[0m ×2 + 9.85sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.85sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.85sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.85sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 9.85sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.85sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 9.88sINFOros2-23process has finished cleanly [pid 7686] ×2 + 9.90sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.91sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.91sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.91sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.91sINFOplatform_velocity_controllerconfigure successful + 9.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.92sINFOcontroller_managerSuccessfully switched controllers! ×20 + 9.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 9.92sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.92sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 10.35sINFOros2-16process has finished cleanly [pid 7677] ×2 + 10.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.36sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 10.36sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 10.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.48sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788542565.059 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.69sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.76sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 10.76sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 10.78sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.78sINFOros2-15process has finished cleanly [pid 7676] ×2 + 10.81sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.81sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778118 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778118 ms (missed cycles : 3).[0m ×2 + 10.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.83sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.83sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.87sINFOlocal_costmap.local_costmapstart + 10.92sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.97sWARNcontroller_serverParameter controller_server.verbose not found + 10.97sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.08sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.08sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.08sINFOsmoother_serverActivating + 11.08sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.12sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 11.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 11.16sINFOros2-17process has finished cleanly [pid 7678] ×2 + 11.19sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.19sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.19sINFOplanner_serverActivating + 11.19sINFOglobal_costmap.global_costmapActivating + 11.19sINFOglobal_costmap.global_costmapChecking transform + 11.19sINFOglobal_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. + 11.24sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.24sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.24sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.25sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.25sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.25sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.25sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.26sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.26sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.29sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 5.394ms + 11.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.53sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 11.53sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 11.54sINFOros2-19process has finished cleanly [pid 7682] ×2 + 11.58sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.58sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.58sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.58sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.69sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788542568.248611, but only time 1788542568.257908 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476547 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476547 ms (missed cycles : 2).[0m ×2 + 12.10sINFOros2_control_node[2026-09-04 17:22:48.700] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.10sINFOros2_control_node[2026-09-04 17:22:48.702] [info] Controller state will be published at 10 Hz. ×2 + 12.10sINFOros2_control_node[2026-09-04 17:22:48.703] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.19sINFOglobal_costmap.global_costmapstart + 12.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 12.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 12.44sINFOros2-21process has finished cleanly [pid 7684] ×2 + 12.49sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.49sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.49sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.49sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.50sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.50sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.50sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.50sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.83sINFOros2-14process has finished cleanly [pid 7675] ×2 + 12.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.85sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 12.85sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877282 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877282 ms (missed cycles : 2).[0m ×2 + 12.91sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.91sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.91sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.91sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.92sINFOforce_torque_sensor_broadcasterconfigure successful + 12.92sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.92sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.93sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.93sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.24sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.24sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az + 13.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wq9qhb_l --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_rzwbpfu8 --params-file /tmp/launch_params_qnpqp5az [0m ×2 + 13.27sINFOros2-13process has finished cleanly [pid 7674] ×2 + 13.30sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.30sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.35sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.35sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.35sINFObehavior_serverActivating + 13.35sINFObehavior_serverActivating spin + 13.35sINFObehavior_serverActivating backup + 13.35sINFObehavior_serverActivating drive_on_heading + 13.35sINFObehavior_serverActivating assisted_teleop + 13.35sINFObehavior_serverActivating wait + 13.35sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.45sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.45sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.45sINFObt_navigatorActivating + 13.54sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.64sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.64sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.64sINFOwaypoint_followerActivating + 13.64sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.75sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.75sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.75sINFOvelocity_smootherActivating + 13.75sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.76sINFOros2_control_node[2026-09-04 17:22:50.367] [info] Controller state will be published at 20 Hz. ×2 + 13.76sINFOros2_control_node[2026-09-04 17:22:50.369] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.85sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.85sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.85sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254995 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254995 ms (missed cycles : 2).[0m ×2 + 14.10sINFOros2-22process has finished cleanly [pid 7685] ×2 + 14.84sWARNros2_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 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797491 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797491 ms (missed cycles : 3).[0m ×2 + 15.42sWARNros2_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 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 17.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 18.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.91sINFOobjective_server_nodecaller: ×10 + 18.91sINFOobjective_server_nodetype: 0 ×10 + 18.91sINFOobjective_server_nodename: "" ×10 + 18.91sINFOobjective_server_nodeinstance_id: "" ×10 + 18.91sINFOobjective_server_node ×10 + 18.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.95sINFOmove_groupClearing octomap...[0m ×2 + 18.95sINFOmove_groupOctomap cleared.[0m ×2 + 18.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 19.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 19.93sWARNros2_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 + 20.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 20.50sWARNros2_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 + 20.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 21.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.52sINFOros2_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/objectives

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	64.8s	3 errors · 284 warnings · 252 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.145ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204145 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204145 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.762ms + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209297 ms (missed cycles : 4). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209297 ms (missed cycles : 4).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.836ms + 2.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.368ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794290 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794290 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 3.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sERRORobjective_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: 1788542786.34239459 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_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 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 3.65sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.65sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 2.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790323 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790323 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×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 + 3.80sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788542786.92320108 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.884ms + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644632 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644632 ms (missed cycles : 3).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707744 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707744 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398247 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398247 ms (missed cycles : 4).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282226 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282226 ms (missed cycles : 3).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.071ms + 9.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842768 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842768 ms (missed cycles : 3).[0m ×2 + 9.82sWARNros2_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 + 9.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.258ms + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.724ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208526 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208526 ms (missed cycles : 3).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.581ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716962 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716962 ms (missed cycles : 2).[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.730ms + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.915ms + 12.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.892ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217279 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217279 ms (missed cycles : 4).[0m ×2 + 13.46sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 7.017ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.922508 ms (missed cycles : 5). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.922508 ms (missed cycles : 5).[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 6.379ms + 14.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 14.62sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 4.287ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706580 ms (missed cycles : 5). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706580 ms (missed cycles : 5).[0m ×2 + 15.17sWARNros2_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 + 15.21sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.642ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920215 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920215 ms (missed cycles : 3).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626198 ms (missed cycles : 3). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626198 ms (missed cycles : 3).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720021 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720021 ms (missed cycles : 3).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870026 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870026 ms (missed cycles : 2).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 20.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715744 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715744 ms (missed cycles : 3).[0m ×2 + 20.82sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778150 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778150 ms (missed cycles : 2).[0m ×2 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.299ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.201ms + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751418 ms (missed cycles : 3). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751418 ms (missed cycles : 3).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460962 ms (missed cycles : 3). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460962 ms (missed cycles : 3).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233583 ms (missed cycles : 3). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233583 ms (missed cycles : 3).[0m ×2 + 25.22sWARNros2_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 + 25.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532958 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532958 ms (missed cycles : 2).[0m ×2 + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 26.42sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027996 ms (missed cycles : 4). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027996 ms (missed cycles : 4).[0m ×2 + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.559ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689227 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689227 ms (missed cycles : 2).[0m ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096991 ms (missed cycles : 5). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096991 ms (missed cycles : 5).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773773 ms (missed cycles : 5). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773773 ms (missed cycles : 5).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 30.83sWARNros2_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 + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 30.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744984 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744984 ms (missed cycles : 2).[0m ×2 + 31.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 32.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145637 ms (missed cycles : 4). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145637 ms (missed cycles : 4).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294771 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294771 ms (missed cycles : 2).[0m ×2 + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795661 ms (missed cycles : 5). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795661 ms (missed cycles : 5).[0m ×2 + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 34.86sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.86sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028733 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028733 ms (missed cycles : 2).[0m ×2 + 35.30sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.16sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213372 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213372 ms (missed cycles : 4).[0m ×2 + 36.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469098 ms (missed cycles : 4). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469098 ms (missed cycles : 4).[0m ×2 + 38.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477210 ms (missed cycles : 3). + 38.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477210 ms (missed cycles : 3).[0m ×2 + 39.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 39.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 39.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667322 ms (missed cycles : 3). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667322 ms (missed cycles : 3).[0m ×2 + 40.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 40.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825382 ms (missed cycles : 3). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825382 ms (missed cycles : 3).[0m ×2 + 41.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273820 ms (missed cycles : 3). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273820 ms (missed cycles : 3).[0m ×2 + 42.05sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 42.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555526 ms (missed cycles : 3). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555526 ms (missed cycles : 3).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940717 ms (missed cycles : 4). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940717 ms (missed cycles : 4).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387393 ms (missed cycles : 2). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387393 ms (missed cycles : 2).[0m ×2 + 45.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.526ms + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639819 ms (missed cycles : 3). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639819 ms (missed cycles : 3).[0m ×2 + 47.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066812 ms (missed cycles : 2). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066812 ms (missed cycles : 2).[0m ×2 + 47.60sWARNros2_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 + 48.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472218 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472218 ms (missed cycles : 3).[0m ×2 + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925706 ms (missed cycles : 3). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925706 ms (missed cycles : 3).[0m ×2 + 49.94sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581303 ms (missed cycles : 5). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581303 ms (missed cycles : 5).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192388 ms (missed cycles : 4). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192388 ms (missed cycles : 4).[0m ×2 + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005093 ms (missed cycles : 2). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005093 ms (missed cycles : 2).[0m ×2 + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267626 ms (missed cycles : 2). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267626 ms (missed cycles : 2).[0m ×2 + 54.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697424 ms (missed cycles : 3). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697424 ms (missed cycles : 3).[0m ×2 + 55.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 55.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 56.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783959 ms (missed cycles : 4). + 56.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783959 ms (missed cycles : 4).[0m ×2 + 56.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239642 ms (missed cycles : 3). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239642 ms (missed cycles : 3).[0m ×2 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315825 ms (missed cycles : 3). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315825 ms (missed cycles : 3).[0m ×2 + 58.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 59.08sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 59.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278676 ms (missed cycles : 2). + 59.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278676 ms (missed cycles : 2).[0m ×2 + 60.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528210 ms (missed cycles : 3). + 60.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528210 ms (missed cycles : 3).[0m ×2 + 61.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381628 ms (missed cycles : 2). + 61.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381628 ms (missed cycles : 2).[0m ×2 + 62.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 62.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 63.30sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 63.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318164 ms (missed cycles : 2). + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318164 ms (missed cycles : 2).[0m ×2 + 64.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461609 ms (missed cycles : 3). + 64.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461609 ms (missed cycles : 3).[0m ×2 + 65.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 65.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036642 ms (missed cycles : 2). + 65.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036642 ms (missed cycles : 2).[0m ×2 + 66.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 66.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664076 ms (missed cycles : 2). + 66.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664076 ms (missed cycles : 2).[0m ×2 + 67.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 67.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089201 ms (missed cycles : 2). + 67.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089201 ms (missed cycles : 2).[0m ×2 + 68.03sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788542851.15339446 seconds ×3 + 68.05sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.05sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.34sWARNros2_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 + 68.35sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.35sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.56sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788542851.72258472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712743 ms (missed cycles : 3). + 68.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712743 ms (missed cycles : 3).[0m ×2 + 68.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.294ms + 69.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730244 ms (missed cycles : 3). + 69.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730244 ms (missed cycles : 3).[0m ×2 + 70.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483279 ms (missed cycles : 2). + 70.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483279 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	239 warnings · 200 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.51sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.78sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.78sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658128 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658128 ms (missed cycles : 2).[0m ×2 + 6.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104958 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104958 ms (missed cycles : 2).[0m ×2 + 8.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.561ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570172 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570172 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.274ms + 9.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.228ms + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288411 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288411 ms (missed cycles : 3).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.314ms + 10.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.027ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954994 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954994 ms (missed cycles : 3).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.689ms + 11.92sWARNros2_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 + 11.94sWARNros2_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 + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.962ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640010 ms (missed cycles : 3). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640010 ms (missed cycles : 3).[0m ×2 + 12.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.070ms + 13.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.313ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080351 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080351 ms (missed cycles : 2).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 4642 particles 723 points - 8.565ms + 14.28sINFOamclParticle filter update iteration stats: 3378 particles 723 points - 10.623ms + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536531 ms (missed cycles : 4). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536531 ms (missed cycles : 4).[0m ×2 + 14.88sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 5.105ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915181 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915181 ms (missed cycles : 2).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 3.334ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729270 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729270 ms (missed cycles : 2).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 17.27sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 17.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672643 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672643 ms (missed cycles : 2).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569595 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569595 ms (missed cycles : 3).[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 19.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854505 ms (missed cycles : 5). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854505 ms (missed cycles : 5).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257278 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257278 ms (missed cycles : 3).[0m ×2 + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809734 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809734 ms (missed cycles : 2).[0m ×2 + 22.28sWARNros2_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 + 22.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425352 ms (missed cycles : 3). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425352 ms (missed cycles : 3).[0m ×2 + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378913 ms (missed cycles : 3). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378913 ms (missed cycles : 3).[0m ×2 + 24.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032166 ms (missed cycles : 3). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032166 ms (missed cycles : 3).[0m ×2 + 25.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.423ms + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.490ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290824 ms (missed cycles : 3). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290824 ms (missed cycles : 3).[0m ×2 + 26.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022080 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022080 ms (missed cycles : 2).[0m ×2 + 27.92sWARNros2_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 + 27.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580153 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580153 ms (missed cycles : 2).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037354 ms (missed cycles : 3). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037354 ms (missed cycles : 3).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699678 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699678 ms (missed cycles : 2).[0m ×2 + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671156 ms (missed cycles : 2). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671156 ms (missed cycles : 2).[0m ×2 + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320511 ms (missed cycles : 4). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320511 ms (missed cycles : 4).[0m ×2 + 32.93sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 32.95sWARNros2_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 + 32.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327659 ms (missed cycles : 4). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327659 ms (missed cycles : 4).[0m ×2 + 34.19sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920020 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920020 ms (missed cycles : 2).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002101 ms (missed cycles : 3). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002101 ms (missed cycles : 3).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960774 ms (missed cycles : 3). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960774 ms (missed cycles : 3).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024390 ms (missed cycles : 4). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024390 ms (missed cycles : 4).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222124 ms (missed cycles : 2). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222124 ms (missed cycles : 2).[0m ×2 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676564 ms (missed cycles : 5). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676564 ms (missed cycles : 5).[0m ×2 + 41.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771091 ms (missed cycles : 2). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771091 ms (missed cycles : 2).[0m ×2 + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678443 ms (missed cycles : 2). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678443 ms (missed cycles : 2).[0m ×2 + 43.63sWARNros2_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 + 43.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166153 ms (missed cycles : 2). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166153 ms (missed cycles : 2).[0m ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699970 ms (missed cycles : 4). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699970 ms (missed cycles : 4).[0m ×2 + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021288 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021288 ms (missed cycles : 3).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355824 ms (missed cycles : 2). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355824 ms (missed cycles : 2).[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969058 ms (missed cycles : 3). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969058 ms (missed cycles : 3).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108995 ms (missed cycles : 5). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108995 ms (missed cycles : 5).[0m ×2 + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539812 ms (missed cycles : 3). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539812 ms (missed cycles : 3).[0m ×2 + 51.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927647 ms (missed cycles : 3). + 51.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927647 ms (missed cycles : 3).[0m ×2 + 51.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 52.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512147 ms (missed cycles : 4). + 52.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512147 ms (missed cycles : 4).[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213745 ms (missed cycles : 4). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213745 ms (missed cycles : 4).[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983992 ms (missed cycles : 2). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983992 ms (missed cycles : 2).[0m ×2 + 55.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284498 ms (missed cycles : 4). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284498 ms (missed cycles : 4).[0m ×2 + 55.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 56.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788184 ms (missed cycles : 3). + 56.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788184 ms (missed cycles : 3).[0m ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653986 ms (missed cycles : 4). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653986 ms (missed cycles : 4).[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651492 ms (missed cycles : 3). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651492 ms (missed cycles : 3).[0m ×2 + 59.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961455 ms (missed cycles : 2). + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961455 ms (missed cycles : 2).[0m ×2 + 59.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788542914.90435028 seconds ×3 + 59.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.04sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.04sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788542915.49338269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.621ms + 60.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778451 ms (missed cycles : 3). + 60.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778451 ms (missed cycles : 3).[0m ×2 + 60.84sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 61.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657100 ms (missed cycles : 2). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657100 ms (missed cycles : 2).[0m ×2 + 62.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525982 ms (missed cycles : 3). + 62.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525982 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	240 warnings · 206 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296928 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296928 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728768 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728768 ms (missed cycles : 3).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788542627.33036065 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788542627.90316892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317202 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317202 ms (missed cycles : 2).[0m ×2 + 3.46sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 3.49sWARNros2_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 + 3.50sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.664ms + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182330 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182330 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841541 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841541 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.98sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.98sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.98sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588465 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588465 ms (missed cycles : 3).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429837 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429837 ms (missed cycles : 3).[0m ×2 + 8.16sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 3.335ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969767 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969767 ms (missed cycles : 3).[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 4.830ms + 9.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.952ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978106 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978106 ms (missed cycles : 2).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.033ms + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271678 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271678 ms (missed cycles : 2).[0m ×2 + 11.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 12.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620138 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620138 ms (missed cycles : 3).[0m ×2 + 12.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.225ms + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627507 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627507 ms (missed cycles : 2).[0m ×2 + 13.86sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.88sWARNros2_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 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465749 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465749 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306955 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306955 ms (missed cycles : 2).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396150 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396150 ms (missed cycles : 2).[0m ×2 + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972369 ms (missed cycles : 4). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972369 ms (missed cycles : 4).[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355276 ms (missed cycles : 3). + 19.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355276 ms (missed cycles : 3).[0m ×2 + 19.26sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×8 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230538 ms (missed cycles : 3). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230538 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.921984 ms (missed cycles : 5). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.921984 ms (missed cycles : 5).[0m ×2 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015585 ms (missed cycles : 4). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015585 ms (missed cycles : 4).[0m ×2 + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040505 ms (missed cycles : 4). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040505 ms (missed cycles : 4).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607016 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607016 ms (missed cycles : 3).[0m ×2 + 24.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193091 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193091 ms (missed cycles : 2).[0m ×2 + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276478 ms (missed cycles : 5). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276478 ms (missed cycles : 5).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521329 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521329 ms (missed cycles : 2).[0m ×2 + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673183 ms (missed cycles : 2). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673183 ms (missed cycles : 2).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189074 ms (missed cycles : 3). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189074 ms (missed cycles : 3).[0m ×2 + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 30.22sWARNros2_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 ×8 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531263 ms (missed cycles : 2). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531263 ms (missed cycles : 2).[0m ×2 + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507465 ms (missed cycles : 3). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507465 ms (missed cycles : 3).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051810 ms (missed cycles : 2). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051810 ms (missed cycles : 2).[0m ×2 + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713763 ms (missed cycles : 2). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713763 ms (missed cycles : 2).[0m ×2 + 33.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 34.39sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310506 ms (missed cycles : 4). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310506 ms (missed cycles : 4).[0m ×2 + 35.80sWARNros2_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 + 35.83sWARNros2_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 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046416 ms (missed cycles : 2). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046416 ms (missed cycles : 2).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466521 ms (missed cycles : 3). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466521 ms (missed cycles : 3).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579928 ms (missed cycles : 2). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579928 ms (missed cycles : 2).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046886 ms (missed cycles : 4). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046886 ms (missed cycles : 4).[0m ×2 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361926 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361926 ms (missed cycles : 2).[0m ×2 + 40.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759485 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759485 ms (missed cycles : 2).[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438720 ms (missed cycles : 2). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438720 ms (missed cycles : 2).[0m ×2 + 43.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506773 ms (missed cycles : 4). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506773 ms (missed cycles : 4).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001493 ms (missed cycles : 4). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001493 ms (missed cycles : 4).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050807 ms (missed cycles : 3). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050807 ms (missed cycles : 3).[0m ×2 + 45.85sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.88sWARNros2_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 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045011 ms (missed cycles : 2). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045011 ms (missed cycles : 2).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172142 ms (missed cycles : 4). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172142 ms (missed cycles : 4).[0m ×2 + 48.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163414 ms (missed cycles : 3). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163414 ms (missed cycles : 3).[0m ×2 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040303 ms (missed cycles : 3). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040303 ms (missed cycles : 3).[0m ×2 + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021285 ms (missed cycles : 4). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021285 ms (missed cycles : 4).[0m ×2 + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793550 ms (missed cycles : 4). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793550 ms (missed cycles : 4).[0m ×2 + 52.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 52.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648806 ms (missed cycles : 5). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648806 ms (missed cycles : 5).[0m ×2 + 53.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324889 ms (missed cycles : 4). + 53.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324889 ms (missed cycles : 4).[0m ×2 + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892177 ms (missed cycles : 4). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892177 ms (missed cycles : 4).[0m ×2 + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075952 ms (missed cycles : 3). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075952 ms (missed cycles : 3).[0m ×2 + 55.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 56.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2). + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4).[0m ×2 + 58.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3). + 58.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3).[0m ×2 + 59.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3).[0m ×2 + 60.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542684.65329218 seconds ×3 + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542685.24956489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.059ms + 60.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2). + 60.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2).[0m ×2 + 61.04sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 61.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2). + 62.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2).[0m ×2 + 63.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3). + 63.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.0s	249 warnings · 220 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.13sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788542723.58591008 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sWARNros2_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 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788542724.16688490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.481ms + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 7.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.95, 7.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734758 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734758 ms (missed cycles : 2).[0m ×2 + 8.47sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942250 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942250 ms (missed cycles : 2).[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.846ms + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.808ms + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177827 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177827 ms (missed cycles : 2).[0m ×2 + 10.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.156ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.750ms + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150287 ms (missed cycles : 4). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150287 ms (missed cycles : 4).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.114ms + 11.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.899ms + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889273 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889273 ms (missed cycles : 3).[0m ×2 + 12.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.063ms + 13.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.057ms + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253820 ms (missed cycles : 4). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253820 ms (missed cycles : 4).[0m ×2 + 13.72sWARNros2_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 + 13.74sWARNros2_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 ×8 + 13.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.375ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768327 ms (missed cycles : 4). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768327 ms (missed cycles : 4).[0m ×2 + 14.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.526ms + 14.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.863ms + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650800 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650800 ms (missed cycles : 3).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.355ms + 16.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.100ms + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371038 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371038 ms (missed cycles : 3).[0m ×2 + 16.81sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 7.524ms + 17.45sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 5.135ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368976 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368976 ms (missed cycles : 3).[0m ×2 + 18.06sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 3.030ms + 18.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750072 ms (missed cycles : 3). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750072 ms (missed cycles : 3).[0m ×2 + 19.26sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.28sWARNros2_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 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.778250 ms (missed cycles : 6). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.778250 ms (missed cycles : 6).[0m ×2 + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702708 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702708 ms (missed cycles : 2).[0m ×2 + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086978 ms (missed cycles : 2). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086978 ms (missed cycles : 2).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957475 ms (missed cycles : 3). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957475 ms (missed cycles : 3).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688433 ms (missed cycles : 3). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688433 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 24.86sWARNros2_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 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736222 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736222 ms (missed cycles : 3).[0m ×2 + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641209 ms (missed cycles : 5). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641209 ms (missed cycles : 5).[0m ×2 + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457256 ms (missed cycles : 3). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457256 ms (missed cycles : 3).[0m ×2 + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138564 ms (missed cycles : 4). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138564 ms (missed cycles : 4).[0m ×2 + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982001 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982001 ms (missed cycles : 2).[0m ×2 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 29.87sWARNros2_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 ×4 + 29.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.743ms + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901380 ms (missed cycles : 5). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901380 ms (missed cycles : 5).[0m ×2 + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013867 ms (missed cycles : 3). + 31.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013867 ms (missed cycles : 3).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656736 ms (missed cycles : 3). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656736 ms (missed cycles : 3).[0m ×2 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766241 ms (missed cycles : 3). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766241 ms (missed cycles : 3).[0m ×2 + 33.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381175 ms (missed cycles : 3). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381175 ms (missed cycles : 3).[0m ×2 + 34.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984482 ms (missed cycles : 4). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984482 ms (missed cycles : 4).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868141 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868141 ms (missed cycles : 2).[0m ×2 + 37.73sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095536 ms (missed cycles : 2). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095536 ms (missed cycles : 2).[0m ×2 + 38.50sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045142 ms (missed cycles : 2). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045142 ms (missed cycles : 2).[0m ×2 + 40.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116773 ms (missed cycles : 2). + 40.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116773 ms (missed cycles : 2).[0m ×2 + 40.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344503 ms (missed cycles : 3). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344503 ms (missed cycles : 3).[0m ×2 + 41.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565398 ms (missed cycles : 4). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565398 ms (missed cycles : 4).[0m ×2 + 42.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 43.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 43.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290020 ms (missed cycles : 3). + 43.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290020 ms (missed cycles : 3).[0m ×2 + 43.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950519 ms (missed cycles : 5). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950519 ms (missed cycles : 5).[0m ×2 + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036061 ms (missed cycles : 4). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036061 ms (missed cycles : 4).[0m ×2 + 45.71sWARNros2_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 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744581 ms (missed cycles : 2). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744581 ms (missed cycles : 2).[0m ×2 + 47.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 47.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135546 ms (missed cycles : 2). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135546 ms (missed cycles : 2).[0m ×2 + 48.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 48.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.525ms + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736696 ms (missed cycles : 4). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736696 ms (missed cycles : 4).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288759 ms (missed cycles : 4). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288759 ms (missed cycles : 4).[0m ×2 + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895124 ms (missed cycles : 4). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895124 ms (missed cycles : 4).[0m ×2 + 51.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 52.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 52.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952946 ms (missed cycles : 2). + 53.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952946 ms (missed cycles : 2).[0m ×2 + 53.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196783 ms (missed cycles : 5). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196783 ms (missed cycles : 5).[0m ×2 + 55.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 55.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788542775.63698912 seconds ×3 + 55.32sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.32sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661466 ms (missed cycles : 5). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661466 ms (missed cycles : 5).[0m ×2 + 55.72sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.72sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788542776.22028375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.16sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 56.22sWARNros2_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 + 56.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.517ms + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188275 ms (missed cycles : 2). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188275 ms (missed cycles : 2).[0m ×2 + 57.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564567 ms (missed cycles : 3). + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564567 ms (missed cycles : 3).[0m ×2 + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487028 ms (missed cycles : 3). + 58.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487028 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	181 warnings · 380 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.68sINFOobjective_server_nodecaller: ×12 + 0.68sINFOobjective_server_nodetype: 0 ×12 + 0.68sINFOobjective_server_nodename: "" ×12 + 0.68sINFOobjective_server_nodeinstance_id: "" ×12 + 0.68sINFOobjective_server_node ×12 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.71sINFOmove_groupClearing octomap...[0m ×2 + 0.71sINFOmove_groupOctomap cleared.[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 1.70sWARNros2_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 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×8 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.64sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420219 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420219 ms (missed cycles : 4).[0m ×2 + 6.72sWARNros2_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 ×14 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644073 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644073 ms (missed cycles : 3).[0m ×2 + 7.88sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.918ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689126 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689126 ms (missed cycles : 3).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990575 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990575 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505067 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505067 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192181 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192181 ms (missed cycles : 2).[0m ×2 + 12.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×8 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365134 ms (missed cycles : 5). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365134 ms (missed cycles : 5).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206259 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206259 ms (missed cycles : 3).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386490 ms (missed cycles : 4). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386490 ms (missed cycles : 4).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381053 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381053 ms (missed cycles : 4).[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912862 ms (missed cycles : 5). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912862 ms (missed cycles : 5).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351292 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351292 ms (missed cycles : 2).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879649 ms (missed cycles : 2). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879649 ms (missed cycles : 2).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605565 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605565 ms (missed cycles : 2).[0m ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695275 ms (missed cycles : 3). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695275 ms (missed cycles : 3).[0m ×2 + 22.93sWARNros2_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 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887139 ms (missed cycles : 2). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887139 ms (missed cycles : 2).[0m ×2 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677802 ms (missed cycles : 2). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677802 ms (missed cycles : 2).[0m ×2 + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968767 ms (missed cycles : 2). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968767 ms (missed cycles : 2).[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138001 ms (missed cycles : 2). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138001 ms (missed cycles : 2).[0m ×2 + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611301 ms (missed cycles : 3). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611301 ms (missed cycles : 3).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428078 ms (missed cycles : 4). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428078 ms (missed cycles : 4).[0m ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243409 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243409 ms (missed cycles : 3).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011391 ms (missed cycles : 3). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011391 ms (missed cycles : 3).[0m ×2 + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330703 ms (missed cycles : 3). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330703 ms (missed cycles : 3).[0m ×2 + 33.00sWARNros2_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 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081561 ms (missed cycles : 3). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081561 ms (missed cycles : 3).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835568 ms (missed cycles : 3). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835568 ms (missed cycles : 3).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832131 ms (missed cycles : 2). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832131 ms (missed cycles : 2).[0m ×2 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963119 ms (missed cycles : 2). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963119 ms (missed cycles : 2).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744848 ms (missed cycles : 3). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744848 ms (missed cycles : 3).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961945 ms (missed cycles : 3). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961945 ms (missed cycles : 3).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139090 ms (missed cycles : 2). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139090 ms (missed cycles : 2).[0m ×2 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227378 ms (missed cycles : 2). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227378 ms (missed cycles : 2).[0m ×2 + 40.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130426 ms (missed cycles : 3). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130426 ms (missed cycles : 3).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700971 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700971 ms (missed cycles : 2).[0m ×2 + 43.05sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3).[0m ×2 + 44.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2). + 44.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2).[0m ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3).[0m ×2 + 46.31sINFOjoint_trajectory_controllerGoal reached, success! + 46.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788542621.18559456 seconds ×3 + 46.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3).[0m ×2 + 46.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.88sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788542621.76023054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3).[0m ×2 + 48.05sINFOobjective_server_nodeFound path in 0 iterations (2.4656e-05 s). ×2 + 48.11sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3).[0m ×2 + 49.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	158 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436475 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436475 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963111 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963111 ms (missed cycles : 2).[0m ×2 + 1.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.31sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788542691.05970883 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082807 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082807 ms (missed cycles : 4).[0m ×2 + 2.26sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788542692.63576770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738008 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738008 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438400 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438400 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005683 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005683 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555568 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555568 ms (missed cycles : 4).[0m ×2 + 7.35sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923147 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923147 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.253ms + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.188ms + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818337 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818337 ms (missed cycles : 3).[0m ×2 + 9.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.723ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916317 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916317 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.756ms + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.145ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086898 ms (missed cycles : 5). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086898 ms (missed cycles : 5).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.705ms + 11.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.779ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312523 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312523 ms (missed cycles : 2).[0m ×2 + 12.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.822ms + 12.71sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 12.75sINFOamclParticle filter update iteration stats: 4528 particles 723 points - 7.228ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601547 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601547 ms (missed cycles : 3).[0m ×2 + 13.36sINFOamclParticle filter update iteration stats: 3128 particles 723 points - 5.748ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712145 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712145 ms (missed cycles : 2).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.945ms + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.537ms + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082043 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082043 ms (missed cycles : 4).[0m ×2 + 15.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779817 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779817 ms (missed cycles : 3).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421276 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421276 ms (missed cycles : 4).[0m ×2 + 17.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832685 ms (missed cycles : 4). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832685 ms (missed cycles : 4).[0m ×2 + 18.25sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 18.27sWARNros2_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 + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808235 ms (missed cycles : 3). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808235 ms (missed cycles : 3).[0m ×2 + 19.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978063 ms (missed cycles : 4). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978063 ms (missed cycles : 4).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410669 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410669 ms (missed cycles : 3).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555632 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555632 ms (missed cycles : 3).[0m ×2 + 22.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 23.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911856 ms (missed cycles : 3). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911856 ms (missed cycles : 3).[0m ×2 + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928941 ms (missed cycles : 3). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928941 ms (missed cycles : 3).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786080 ms (missed cycles : 3). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786080 ms (missed cycles : 3).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.555ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401555 ms (missed cycles : 3). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401555 ms (missed cycles : 3).[0m ×2 + 27.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268084 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268084 ms (missed cycles : 2).[0m ×2 + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005120 ms (missed cycles : 3). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005120 ms (missed cycles : 3).[0m ×2 + 28.80sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 28.82sWARNros2_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 + 28.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681838 ms (missed cycles : 5). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681838 ms (missed cycles : 5).[0m ×2 + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4).[0m ×2 + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2).[0m ×2 + 32.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3).[0m ×2 + 33.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788542723.58591008 seconds ×3 + 33.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 33.93sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 33.93sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4).[0m ×2 + 34.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788542724.16688490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.481ms + 34.43sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 7.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.43sWARNlocal_costmap.local_costmapSensor origin at (-2.95, 7.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.84sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 35.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2).[0m ×2 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.9s	94 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653986 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653986 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651492 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651492 ms (missed cycles : 3).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961455 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961455 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.29sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.34sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788542914.90435028 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.47sWARNros2_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 + 2.49sWARNros2_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 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788542915.49338269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.621ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778451 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778451 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657100 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657100 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525982 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525982 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454559 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454559 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727791 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727791 ms (missed cycles : 3).[0m ×2 + 7.64sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.66sWARNros2_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 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998050 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998050 ms (missed cycles : 2).[0m ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.62sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019269 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019269 ms (missed cycles : 2).[0m ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 10.44sINFOobjective_server_nodeFound path in 33 iterations (0.0442767 s). ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559765 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559765 ms (missed cycles : 3).[0m ×2 + 10.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 11.63sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054637 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054637 ms (missed cycles : 2).[0m ×2 + 12.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.31sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438834 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438834 ms (missed cycles : 3).[0m ×2 + 12.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X] ×2 + 13.01sWARNros2_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 + 13.24sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071132 ms (missed cycles : 5). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071132 ms (missed cycles : 5).[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948770 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948770 ms (missed cycles : 2).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.191ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264078 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264078 ms (missed cycles : 2).[0m ×2 + 16.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.698ms + 17.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.872ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943346 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943346 ms (missed cycles : 2).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 18.14sWARNros2_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 + 18.16sWARNros2_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 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3).[0m ×2 + 18.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.668ms + 19.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788542931.80078936 seconds ×3 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2).[0m ×2 + 19.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.160ms + 19.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542932.41137767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.85sINFOmove_groupClearing octomap...[0m ×2 + 19.85sINFOmove_groupOctomap cleared.[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3).[0m ×2 + 20.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542933.38151121 seconds ×3 + 21.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2).[0m ×2 + 21.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542933.95372963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542934.52385473 seconds ×3 + 22.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542711 ms (missed cycles : 3).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	105 errors · 40 warnings · 516 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 0.55sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.668ms + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788542931.80078936 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.160ms + 2.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542932.41137767 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 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542933.38151121 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 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542933.95372963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542934.52385473 seconds ×3 + 4.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542711 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542711 ms (missed cycles : 3).[0m ×2 + 5.77sWARNros2_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 + 5.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220122 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220122 ms (missed cycles : 2).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702315 ms (missed cycles : 5). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702315 ms (missed cycles : 5).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412530 ms (missed cycles : 3). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412530 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257069 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257069 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503625 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503625 ms (missed cycles : 4).[0m ×2 + 10.77sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.78sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORweb_video_auth_proxy-38process has died [pid 7786, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.78sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.79sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORweb_bridge_auth_proxy-37process has died [pid 7784, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.79sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.82sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.83sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.84sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.85sINFOvideo_server-36process has finished cleanly [pid 7779] ×2 + 10.85sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.86sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.87sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.88sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.89sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.90sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.91sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.92sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.93sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.94sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.96sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.96sINFOcontroller_managerShutdown request received.... + 10.96sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.96sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.96sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.96sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.96sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.96sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.96sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.96sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.96sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.96sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.96sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.96sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.96sINFOcontroller_managerShutting down the controller manager. + 10.97sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.98sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.99sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.99sERRORmove_group-24process has died [pid 7687, 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_owfjkvkq --params-file /tmp/launch_params_l2zamtdr --params-file /tmp/launch_params_bujlu_5t --params-file /tmp/launch_params_jq6phy7l --params-file /tmp/launch_params_5zwmy5_9 --params-file /tmp/launch_params_vt2otpbt']. ×2 + 11.00sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 11.01sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 11.02sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.03sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.04sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.05sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.06sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.06sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.06sINFOmap_serverDeactivating + 11.06sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.07sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.07sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.07sINFOcontroller_serverDeactivating + 11.07sINFOlocal_costmap.local_costmapDeactivating + 11.07sINFOvideo_server2026/09/04 17:29:00 INF shutting down gracefully ×2 + 11.07sINFOvideo_server2026/09/04 17:29:00 INF [WebRTC] closing ×2 + 11.07sINFOvideo_server2026/09/04 17:29:00 INF [RTSP] closing ×2 + 11.07sINFOvideo_server2026/09/04 17:29:00 INF waiting for running hooks ×2 + 11.07sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.07sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOmap_serverCleaning up + 11.07sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.07sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.07sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.07sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.07sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.08sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.08sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.08sERRORmove_groupStack trace (most recent call last) in thread 8379: ×2 + 11.08sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.08sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7cee632a63, in __clone ×2 + 11.08sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7cee5a5aa3, in ×2 + 11.08sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7cee837db3, in ×2 + 11.08sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f7ceef9ca94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.08sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7ceebc9620, in rclcpp::Rate::sleep() ×2 + 11.08sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7ceeb0bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.08sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7ceeacd087, in ×2 + 11.08sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7cee806390, in __cxa_throw ×2 + 11.08sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7cee7f0a54, in std::terminate() ×2 + 11.08sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7cee8060d9, in ×2 + 11.08sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7cee7f0ff4, in ×2 + 11.08sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7cee5318fe, in abort ×2 + 11.08sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7cee54e27d, in raise ×2 + 11.08sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7cee5a7b2c, in pthread_kill ×2 + 11.08sERRORmove_groupAborted (Signal sent by tkill() 7687 0) ×2 + 11.08sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.08sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.08sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.08sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.08sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.08sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.08sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.08sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.08sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.08sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.08sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.08sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.08sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.08sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.08sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.08sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.08sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.08sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.08sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.08sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.08sINFOodom_qos_relay.pymain() ×2 + 11.08sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.08sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.08sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.08sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.08sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.08sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.08sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.08sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.09sERRORamclThe bond connection to the lifecycle manager has been broken + 11.13sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.14sINFOcontroller_serverCleaning up + 11.14sINFOlocal_costmap.local_costmapCleaning up + 11.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.18sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.18sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.18sINFOsmoother_serverDeactivating + 11.18sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.18sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.19sINFOsmoother_serverCleaning up + 11.21sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.21sINFOplanner_serverDeactivating + 11.21sINFOglobal_costmap.global_costmapDeactivating + 11.31sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.31sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.31sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.31sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.31sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.31sINFOvelocity_smootherDeactivating + 11.31sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.42sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.42sINFOwaypoint_followerDeactivating + 11.42sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.54sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.54sINFObt_navigatorDeactivating + 11.54sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.64sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.64sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.65sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.65sINFObehavior_serverDeactivating + 11.65sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.65sINFOplanner_serverCleaning up + 11.67sINFOglobal_costmap.global_costmapCleaning up + 11.68sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.68sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.71sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.71sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.71sINFObt_navigatorCleaning up + 11.76sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.77sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.77sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.77sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.77sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.77sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.77sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.77sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.77sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.77sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.77sINFOvelocity_smootherCleaning up + 11.78sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.78sINFOwaypoint_followerCleaning up + 11.81sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.83sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.83sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.83sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.83sINFObehavior_serverCleaning up + 11.86sINFObt_navigatorCompleted Cleaning up + 11.87sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.87sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.87sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.89sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7774] ×2 + 11.89sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.89sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.89sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.89sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.89sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.89sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.90sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.90sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.96sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7739] ×2 + 11.97sINFOui_teleop_bridge-33process has finished cleanly [pid 7764] ×2 + 11.97sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7738] ×2 + 11.99sINFOexecute_objective_bridge-32process has finished cleanly [pid 7761] ×2 + 11.99sINFOcomponent_container_mt-31process has finished cleanly [pid 7760] ×2 + 12.00sINFOparameter_manager_node-25process has finished cleanly [pid 7736] ×2 + 12.02sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7672] ×2 + 12.03sINFOwaypoint_manager_node-26process has finished cleanly [pid 7737] ×2 + 12.03sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7671] ×2 + 12.04sINFOstatic_transform_publisher-9process has finished cleanly [pid 7589] ×2 + 12.05sINFOstatic_transform_publisher-8process has finished cleanly [pid 7588] ×2 + 12.05sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.05sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.05sINFOlidar_flattener.pymain() ×2 + 12.05sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.05sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.05sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.05sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.05sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.05sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.05sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.05sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.05sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.05sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.08sINFOstatic_transform_publisher-4process has finished cleanly [pid 7584] ×2 + 12.10sINFOstatic_transform_publisher-3process has finished cleanly [pid 7583] ×2 + 12.11sERRORlidar_flattener.py-7process has died [pid 7587, 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_y74fzb59']. ×2 + 12.11sINFOobjective_server_node[2026-09-04 17:29:02.262] [moveit_pro_license] [critical] ×2 + 12.11sINFOobjective_server_node************************************************* ×4 + 12.11sINFOobjective_server_node* MoveIt Pro License ×2 + 12.11sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.14sERRORodom_qos_relay.py-5process has died [pid 7585, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.14sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7586] ×2 + 12.17sINFOobjective_server_node_main-29process has finished cleanly [pid 7740] ×2 + 12.17sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.19sERRORcomponent_container_isolated-1process has died [pid 7581, 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_7p4_x7s5 --params-file /tmp/launch_params__i2d8r_q -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.42sERRORcomponent_container_isolated-2process has died [pid 7582, 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_7p4_x7s5 --params-file /tmp/launch_params_szgqn3q6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.09sINFOcomponent_container_mt-30process has finished cleanly [pid 7741] ×2 + 13.69sINFOros2_control_node-12process has finished cleanly [pid 7673] ×2 + 13.97sINFOweb_bridge-34process has finished cleanly [pid 7769] ×2 + 13.97sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 94 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681394 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952946 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952946 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196783 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196783 ms (missed cycles : 5).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788542775.63698912 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661466 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661466 ms (missed cycles : 5).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788542776.22028375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.88sWARNros2_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 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.517ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188275 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188275 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564567 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564567 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487028 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487028 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387994 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387994 ms (missed cycles : 3).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.403ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212972 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212972 ms (missed cycles : 2).[0m ×2 + 9.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.493ms + 9.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.354ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132275 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132275 ms (missed cycles : 2).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.145ms + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204145 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204145 ms (missed cycles : 3).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.762ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209297 ms (missed cycles : 4). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209297 ms (missed cycles : 4).[0m ×2 + 12.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.836ms + 12.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.368ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794290 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794290 ms (missed cycles : 2).[0m ×2 + 13.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 13.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.50sINFOjoint_trajectory_controllerGot request to cancel goal + 13.50sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.54sERRORobjective_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: 1788542786.34239459 seconds ×3 + 13.68sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.68sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 13.98sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.98sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 2.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790323 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790323 ms (missed cycles : 3).[0m ×2 + 14.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788542786.92320108 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 14.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.884ms + 14.53sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644632 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644632 ms (missed cycles : 3).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707744 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707744 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	66 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_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 + 0.27sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542684.65329218 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542685.24956489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.059ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 5.61sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269297 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269297 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436475 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436475 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963111 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963111 ms (missed cycles : 2).[0m ×2 + 9.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788542691.05970883 seconds ×3 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082807 ms (missed cycles : 4). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082807 ms (missed cycles : 4).[0m ×2 + 10.63sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.65sWARNros2_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 + 11.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.22sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.25sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788542692.63576770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738008 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738008 ms (missed cycles : 3).[0m ×2 + 11.64sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 12.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438400 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438400 ms (missed cycles : 3).[0m ×2 + 13.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005683 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005683 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	62 warnings · 138 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036642 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036642 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664076 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664076 ms (missed cycles : 2).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089201 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089201 ms (missed cycles : 2).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.80sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788542851.15339446 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.10sWARNros2_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 + 3.12sWARNros2_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 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788542851.72258472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712743 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712743 ms (missed cycles : 3).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.294ms + 3.84sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.84sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.84sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.84sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730244 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730244 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483279 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483279 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 8.15sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 9.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 9.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.75sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	48 warnings · 145 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.26sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788542621.18559456 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788542621.76023054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.4656e-05 s). ×2 + 5.02sWARNros2_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 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.07sINFOobjective_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 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296928 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296928 ms (missed cycles : 2).[0m ×2 + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728768 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728768 ms (missed cycles : 3).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 9.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788542627.33036065 seconds ×3 + 9.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.97sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 10.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788542627.90316892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317202 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317202 ms (missed cycles : 2).[0m ×2 + 10.22sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.664ms + 10.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182330 ms (missed cycles : 4). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182330 ms (missed cycles : 4).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841541 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841541 ms (missed cycles : 2).[0m ×2 + 12.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	32 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264078 ms (missed cycles : 2).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.698ms + 0.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.872ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943346 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943346 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 2.07sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.09sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.668ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788542931.80078936 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 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.160ms + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542932.41137767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542933.38151121 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542933.95372963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542934.52385473 seconds ×3 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542711 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542711 ms (missed cycles : 3).[0m ×2 + 7.28sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220122 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220122 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_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 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	22 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.68sINFOobjective_server_nodecaller: ×10 + 0.68sINFOobjective_server_nodetype: 0 ×10 + 0.68sINFOobjective_server_nodename: "" ×10 + 0.68sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.71sINFOmove_groupClearing octomap...[0m ×2 + 0.71sINFOmove_groupOctomap cleared.[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 1.70sWARNros2_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 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	29 warnings · 71 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788542621.18559456 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788542621.76023054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.4656e-05 s). ×2 + 5.02sWARNros2_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 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOobjective_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 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	29 warnings · 71 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195950 ms (missed cycles : 3).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573856 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779912 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788542621.18559456 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894832 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788542621.76023054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311174 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.4656e-05 s). ×2 + 5.02sWARNros2_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 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOobjective_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 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367963 ms (missed cycles : 3).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 3.86sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059249 ms (missed cycles : 3).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296928 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296928 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728768 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728768 ms (missed cycles : 3).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788542627.33036065 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788542627.90316892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317202 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317202 ms (missed cycles : 2).[0m ×2 + 3.46sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.49sWARNros2_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 + 3.50sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.664ms + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182330 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182330 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841541 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841541 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.98sINFOjoint_trajectory_controllerAccepted new action goal + 5.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_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 + 0.27sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542684.65329218 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542685.24956489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.059ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 5.61sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_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 + 0.27sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542684.65329218 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542685.24956489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.059ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 5.61sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_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 + 0.27sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542684.65329218 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542685.24956489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.059ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 5.61sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_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 + 0.27sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542684.65329218 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542685.24956489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.059ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 5.61sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213620 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_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 + 0.27sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304783 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283864 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028184 ms (missed cycles : 3).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788542684.65329218 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788542685.24956489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.059ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940371 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203943 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 5.61sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675888 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	47 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788542723.58591008 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNros2_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 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788542724.16688490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.481ms + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 7.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.95, 7.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	47 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788542723.58591008 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNros2_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 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788542724.16688490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.481ms + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 7.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.95, 7.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	47 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537594 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315111 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317397 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788542723.58591008 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNros2_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 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144892 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788542724.16688490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.481ms + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 7.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-2.95, 7.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274954 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047366 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843859 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 3.86sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_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 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 3.86sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_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 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_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 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_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 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_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 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330265 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512625 ms (missed cycles : 3).[0m ×2 + 1.46sWARNros2_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 + 1.49sWARNros2_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 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959905 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788542857.55273151 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788542858.13217735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231359 ms (missed cycles : 2).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505964 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	23 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264078 ms (missed cycles : 2).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.698ms + 0.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.872ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943346 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943346 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 2.07sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.09sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348705 ms (missed cycles : 3).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.668ms + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788542931.80078936 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 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947384 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.160ms + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542932.41137767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795479 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542933.38151121 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714631 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542933.95372963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542934.52385473 seconds ×3 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542711 ms (missed cycles : 3).
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 3.86sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sINFOjoint_trajectory_controllerReceived new action goal + 6.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.80sINFOjoint_trajectory_controllerAccepted new action goal + 6.80sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 2.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.49sINFOobjective_server_nodecaller: ×10 + 3.49sINFOobjective_server_nodetype: 0 ×10 + 3.49sINFOobjective_server_nodename: "" ×10 + 3.49sINFOobjective_server_nodeinstance_id: "" ×10 + 3.49sINFOobjective_server_node ×10 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 4.51sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 5.08sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.05sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 7.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	24 warnings · 300 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 2.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.49sINFOobjective_server_nodecaller: ×10 + 3.49sINFOobjective_server_nodetype: 0 ×10 + 3.49sINFOobjective_server_nodename: "" ×10 + 3.49sINFOobjective_server_nodeinstance_id: "" ×10 + 3.49sINFOobjective_server_node ×10 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 4.51sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 5.08sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.05sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 3.86sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 3.86sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088295 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 3.86sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303184 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704899 ms (missed cycles : 2).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.70sINFOobjective_server_nodecaller: ×10 + 1.70sINFOobjective_server_nodetype: 0 ×10 + 1.70sINFOobjective_server_nodename: "" ×10 + 1.70sINFOobjective_server_nodeinstance_id: "" ×10 + 1.70sINFOobjective_server_node ×10 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542575.54975581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542575.56000257 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299177 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542576.15474129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542576.16489196 seconds ×3 + 2.73sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542576.73570681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542576.88649249 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073967 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542577.48409843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542577.54423547 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369146 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788542578.11348081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481533 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628121 ms (missed cycles : 3).[0m ×2