73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.6s | 12 errors · 321 warnings · 1517 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-19-22-17-677783-fbcbc6c9e78a-7571 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.36sINFOstatic_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' + 4.37sINFOstatic_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' + 4.37sINFOstatic_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' + 4.37sINFOstatic_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' + 4.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.61sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.64sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.66sINFOros2_control_node-12process started with pid [7713] ×2 + 4.66sINFOmove_group-24process started with pid [7749] ×2 + 4.66sINFOparameter_manager_node-25process started with pid [7776] ×2 + 4.66sINFOwaypoint_manager_node-26process started with pid [7777] ×2 + 4.66sINFOmove_joint_resampler_node-27process started with pid [7778] ×2 + 4.66sINFOmove_end_effector_resampler_node-28process started with pid [7779] ×2 + 4.66sINFOobjective_server_node_main-29process started with pid [7780] ×2 + 4.66sINFOcomponent_container_mt-30process started with pid [7781] ×2 + 4.66sINFOcomponent_container_mt-31process started with pid [7782] ×2 + 4.66sINFOexecute_objective_bridge-32process started with pid [7783] ×2 + 4.66sINFOui_teleop_bridge-33process started with pid [7784] ×2 + 4.67sINFOweb_bridge-34process started with pid [7785] ×2 + 4.67sINFOtf2_web_republisher_node-35process started with pid [7786] ×2 + 4.67sINFOvideo_server-36process started with pid [7787] ×2 + 4.67sINFOweb_bridge_auth_proxy-37process started with pid [7790] ×2 + 4.67sINFOweb_video_auth_proxy-38process started with pid [7791] ×2 + 4.67sINFOcomponent_container_isolated-1process started with pid [7621] ×2 + 4.67sINFOcomponent_container_isolated-2process started with pid [7622] ×2 + 4.67sINFOstatic_transform_publisher-3process started with pid [7623] ×2 + 4.67sINFOstatic_transform_publisher-4process started with pid [7624] ×2 + 4.67sINFOodom_qos_relay.py-5process started with pid [7625] ×2 + 4.67sINFOforward_stereo_publisher.py-6process started with pid [7626] ×2 + 4.67sINFOlidar_flattener.py-7process started with pid [7627] ×2 + 4.67sINFOstatic_transform_publisher-8process started with pid [7628] ×2 + 4.67sINFOstatic_transform_publisher-9process started with pid [7629] ×2 + 4.67sINFOscan_to_scan_filter_chain-10process started with pid [7711] ×2 + 4.67sINFOscan_to_scan_filter_chain-11process started with pid [7712] ×2 + 4.67sINFOros2-13process started with pid [7714] ×2 + 4.67sINFOros2-14process started with pid [7715] ×2 + 4.67sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.69sINFOros2-15process started with pid [7716] ×2 + 4.69sINFOros2-16process started with pid [7717] ×2 + 4.69sINFOros2-17process started with pid [7718] ×2 + 4.69sINFOros2-18process started with pid [7719] ×2 + 4.69sINFOros2-19process started with pid [7724] ×2 + 4.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.69sINFOros2-20process started with pid [7725] ×2 + 4.69sINFOros2-21process started with pid [7728] ×2 + 4.69sINFOros2-22process started with pid [7733] ×2 + 4.69sINFOros2-23process started with pid [7734] ×2 + 4.72sINFOcontroller_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. + 4.73sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.73sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.73sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.73sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.73sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.74sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.74sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.74sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.74sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.74sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.74sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.74sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.78sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.78sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.83sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.83sINFOcontroller_managerupdate rate is 600 Hz + 4.83sINFOcontroller_managerOverruns handling is : enabled + 4.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.83sWARNcontroller_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. + 4.83sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.84sWARNros2_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 + 4.85sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.86sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.86sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.86sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.86sINFOcontroller_serverCreating controller server + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.89sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.93sINFOlocal_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. + 4.93sINFOmap_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. + 4.93sINFOmap_serverCreating + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.94sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.95sINFOlocal_costmap.local_costmapCreating Costmap + 4.97sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.97sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.02sINFOrobot_state_publisherRobot initialized + 5.02sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.03sINFOsmoother_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. + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.06sINFOcontroller_managerReceived robot description from topic. + 5.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.06sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.06sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935813 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935813 ms (missed cycles : 3).[0m ×2 + 5.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.08sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.09sINFOsmoother_serverCreating smoother server + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.13sINFOlifecycle_manager_localizationCreating + 5.14sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.14sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.16sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.17sINFOvideo_server2026/09/04 19:22:24 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.17sINFOvideo_server2026/09/04 19:22:24 INF configuration loaded from /tmp/moveit-webrtc-l93kgza8/mediamtx.yml ×2 + 5.17sINFOvideo_server2026/09/04 19:22:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.17sINFOvideo_server2026/09/04 19:22:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.18sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.18sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.18sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.18sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.19sINFOplanner_serverCreating + 5.19sINFOmap_serverConfiguring + 5.20sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.20sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.21sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.21sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.23sINFOglobal_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. + 5.23sINFOglobal_costmap.global_costmapCreating Costmap + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.29sINFObehavior_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. + 5.32sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.32sINFOamclConfiguring + 5.33sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.33sINFOmap_serverActivating + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.34sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.39sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.42sINFObt_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. + 5.44sINFObt_navigatorCreating + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.46sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.46sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.46sINFOamclActivating + 5.46sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.46sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.46sINFOamclSubscribed to map_topic: /map + 5.47sINFOamclSubscribed to scan_topic: /scan_merged + 5.47sINFOamclCreated reinitialize_global_localization service + 5.48sINFOamclCreated request_nomotion_update service + 5.48sINFOamclA new map was received + 5.49sINFOamclInitializing particle filter instance + 5.49sWARNlaser_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. + 5.49sWARNscan_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 + 5.49sWARNlaser_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. + 5.53sINFOwaypoint_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. + 5.53sINFOwaypoint_followerCreating + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.62sINFOvelocity_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. + 5.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.65sINFOlifecycle_manager_navigationCreating + 5.68sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.72sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.72sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.72sINFOcontroller_serverConfiguring controller interface + 5.72sINFOcontroller_servergetting progress checker plugins.. + 5.73sINFOcontroller_servergetting goal checker plugins.. + 5.73sINFOcontroller_serverController frequency set to 20.0000Hz + 5.73sINFOlocal_costmap.local_costmapConfiguring + 5.76sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.77sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 5.77sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.78sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.391292 seconds + 5.78sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.78sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.78sINFOmove_groupLoaded robot model in 0.391292 seconds[0m ×2 + 5.78sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.78sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.79sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.83sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.83sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.83sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.89sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.89sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.90sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.90sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.91sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.95sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.96sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.96sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.97sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.97sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.98sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.98sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.99sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.99sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.99sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.99sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.00sINFOcontroller_serverOptimizer reset ×2 + 6.03sINFOcontroller_serverController Server has FollowPath controllers available. + 6.06sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.06sINFOsmoother_serverConfiguring smoother server + 6.07sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.07sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.09sINFOplanner_serverConfiguring + 6.09sINFOglobal_costmap.global_costmapConfiguring + 6.11sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.12sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.12sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.12sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.13sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.15sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.15sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.16sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019292 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019292 ms (missed cycles : 4).[0m ×2 + 6.20sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.20sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.20sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.20sINFOplanner_serverPlanner Server has GridBased planners available. + 6.22sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.22sINFObehavior_serverConfiguring + 6.24sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.24sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.24sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.25sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.25sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.26sINFObehavior_serverConfiguring spin + 6.26sINFOwaypoint_manager_nodeLoaded robot model in 0.340467 seconds[0m ×2 + 6.26sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.26sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.27sINFObehavior_serverConfiguring backup + 6.27sINFObehavior_serverConfiguring drive_on_heading + 6.28sINFObehavior_serverConfiguring assisted_teleop + 6.29sINFOamclParticle filter initialization completed + 6.29sINFOamclInitializing particles from estimated pose and covariance + 6.29sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.29sINFObehavior_serverConfiguring wait + 6.30sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.30sINFObt_navigatorConfiguring + 6.31sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.32sWARNbt_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 + 6.36sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.36sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.36sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.40sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.44sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.49sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.49sINFOwaypoint_followerConfiguring + 6.52sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.52sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.52sINFOvelocity_smootherConfiguring velocity smoother + 6.52sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.52sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.52sWARNmove_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. + 6.52sWARNmove_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. + 6.52sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.54sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.54sINFOcontroller_serverActivating + 6.54sINFOlocal_costmap.local_costmapActivating + 6.54sINFOlocal_costmap.local_costmapChecking transform + 6.54sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×4 + 6.66sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.66sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.66sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.66sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.69sINFOros2_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 + 6.69sINFOros2_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 + 6.75sINFOmove_group[2026-09-04 19:22:26.206] [moveit_pro_license] [info] ×2 + 6.75sINFOmove_group************************************************* ×4 + 6.75sINFOmove_group* MoveIt Pro License ×2 + 6.75sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 7.06sINFOwaypoint_manager_node[2026-09-04 19:22:26.517] [moveit_pro_license] [info] ×2 + 7.06sINFOwaypoint_manager_node************************************************* ×4 + 7.06sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.06sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.22sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.22sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.22sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.22sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.22sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.22sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.22sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.22sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.22sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.23sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.23sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.23sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.23sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.23sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[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 + 7.53sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.53sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.53sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.53sWARNros2_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 + 7.53sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.53sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.53sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.53sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.53sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.54sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.54sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.54sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.54sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.54sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.54sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.54sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.54sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.54sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.54sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697346 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697346 ms (missed cycles : 2).[0m ×2 + 7.78sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.78sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.78sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.78sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.80sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 7.80sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 7.82sINFOros2_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 + 7.82sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.82sWARNros2_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 + 7.85sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.85sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.87sINFOplatform_velocity_controller_nav2configure successful + 7.87sINFOros2_control_nodeconfigure successful[0m ×6 + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.94sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.96sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.96sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.96sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.96sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.96sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.96sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.96sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.15sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.18sINFOstreaming_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) + 8.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.18sINFOobjective_server_node[2026-09-04 19:22:27.635] [moveit_pro_license] [info] ×2 + 8.18sINFOobjective_server_node************************************************* ×4 + 8.18sINFOobjective_server_node* MoveIt Pro License ×2 + 8.18sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.18sINFOcomponent_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 + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.23sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 8.23sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 8.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.25sINFOros2-18process has finished cleanly [pid 7719] ×2 + 8.27sINFOobjective_server_nodeLoaded robot model in 0.0358422 seconds[0m ×2 + 8.27sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.27sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.28sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.30sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.41sWARNcomponent_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 + 8.54sINFOlocal_costmap.local_costmapstart + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962960 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962960 ms (missed cycles : 2).[0m ×2 + 8.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.64sWARNcontroller_serverParameter controller_server.verbose not found + 8.65sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.66sINFOros2-15process has finished cleanly [pid 7716] ×2 + 8.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.73sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 8.73sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 8.75sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 8.75sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 8.75sINFOsmoother_serverActivating + 8.75sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 8.78sINFOcomponent_container_mtLoaded robot model in 0.366093 seconds[0m ×2 + 8.78sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.78sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.78sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.78sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.78sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.78sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.79sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.83sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.83sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.83sWARNobjective_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. + 8.83sWARNobjective_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. + 8.83sWARNobjective_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 + 8.83sWARNobjective_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 + 8.83sWARNobjective_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. + 8.83sWARNobjective_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. + 8.83sWARNobjective_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 + 8.83sWARNobjective_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. + 8.83sWARNobjective_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. + 8.83sWARNobjective_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 + 8.83sWARNobjective_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 + 8.83sWARNobjective_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. + 8.83sWARNobjective_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. + 8.83sWARNobjective_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 + 8.83sWARNobjective_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 + 8.83sWARNobjective_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. + 8.83sWARNobjective_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 + 8.83sWARNobjective_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. + 8.83sWARNobjective_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 + 8.83sWARNobjective_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 + 8.86sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.86sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.86sINFOplanner_serverActivating + 8.86sINFOglobal_costmap.global_costmapActivating + 8.86sINFOglobal_costmap.global_costmapChecking transform + 8.86sINFOglobal_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. ×3 + 8.90sINFOobjective_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 + 8.90sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.92sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.10sINFOmove_groupMoveGroup debug mode is ON + 9.10sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.21sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.21sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.27sINFOmove_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
********************************************************
+ 9.27sINFOmove_group ×8 + 9.27sINFOmove_group******************************************************** ×4 + 9.27sINFOmove_group* MoveGroup using: ×2 + 9.27sINFOmove_group* - apply_planning_scene_service ×2 + 9.27sINFOmove_group* - clear_octomap_service ×2 + 9.27sINFOmove_group* - get_group_urdf ×2 + 9.27sINFOmove_group* - load_geometry_from_file ×2 + 9.27sINFOmove_group* - get_planning_scene_service ×2 + 9.27sINFOmove_group* - kinematics_service ×2 + 9.27sINFOmove_group* - save_geometry_to_file ×2 + 9.27sINFOmove_group* - GetPlanningGroups ×2 + 9.27sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.27sINFOmove_group[0m ×2 + 9.27sINFOmove_group[92mYou can start planning now![0m ×2 + 9.34sINFOros2_control_node[2026-09-04 19:22:28.792] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.34sWARNplanning_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. + 9.34sWARNcomponent_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 + 9.34sWARNplanning_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. + 9.34sWARNcomponent_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 + 9.34sWARNplanning_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. + 9.34sWARNplanning_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. + 9.34sINFOros2_control_node[2026-09-04 19:22:28.796] [info] Controller state will be published at 10 Hz. ×2 + 9.34sINFOros2_control_node[2026-09-04 19:22:28.797] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.34sWARNcomponent_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 + 9.34sWARNplanning_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. + 9.34sWARNplanning_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. + 9.34sWARNcomponent_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 + 9.34sWARNcomponent_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 + 9.34sWARNcomponent_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 + 9.34sWARNplanning_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. + 9.34sWARNplanning_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. + 9.34sWARNcomponent_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 + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNplanning_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. + 9.35sWARNplanning_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. + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNcomponent_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 + 9.35sWARNcomponent_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 + 9.35sWARNcomponent_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 + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.35sWARNplanning_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. + 9.35sWARNcomponent_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 + 9.36sWARNplanning_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. + 9.36sWARNplanning_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. + 9.36sWARNcomponent_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 + 9.36sWARNcomponent_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 + 9.36sWARNplanning_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. + 9.36sWARNplanning_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. + 9.36sWARNcomponent_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 + 9.36sWARNcomponent_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 + 9.53sINFOcomponent_container_mt[2026-09-04 19:22:28.988] [moveit_pro_license] [info] ×2 + 9.53sINFOcomponent_container_mt************************************************* ×4 + 9.53sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.53sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362978 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362978 ms (missed cycles : 4).[0m ×2 + 9.65sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.65sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.65sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.65sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 9.66sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.66sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 9.71sINFOros2-20process has finished cleanly [pid 7725] ×2 + 9.73sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.73sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.74sINFOplatform_velocity_controllerconfigure successful + 9.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.75sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.76sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.88sWARNros2_control_nodeCamera render tick took 1.10 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.91sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.91sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.91sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.91sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 6.348ms + 9.98sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.99sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.05sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.05sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.05sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.05sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.10sINFOros2-16process has finished cleanly [pid 7717] ×2 + 10.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 10.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 10.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.16sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.16sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.28sWARNobjective_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 + 10.36sINFOglobal_costmap.global_costmapstart + 10.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869911 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869911 ms (missed cycles : 3).[0m ×2 + 10.67sINFOros2_control_node[2026-09-04 19:22:30.121] [info] Controller state will be published at 20 Hz. ×2 + 10.67sINFOros2_control_node[2026-09-04 19:22:30.122] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 10.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 11.02sINFOros2-23process has finished cleanly [pid 7734] ×2 + 11.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.07sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.07sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.07sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.07sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.07sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.31sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.40sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.40sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.40sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.40sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.40sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 11.40sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 11.41sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.41sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.45sINFOros2-19process has finished cleanly [pid 7724] ×2 + 11.47sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.47sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.47sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.47sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.48sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.48sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.48sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.48sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.52sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.52sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.52sINFObehavior_serverActivating + 11.52sINFObehavior_serverActivating spin + 11.52sINFObehavior_serverActivating backup + 11.52sINFObehavior_serverActivating drive_on_heading + 11.52sINFObehavior_serverActivating assisted_teleop + 11.52sINFObehavior_serverActivating wait + 11.52sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.63sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.63sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.63sINFObt_navigatorActivating + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429497 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429497 ms (missed cycles : 2).[0m ×2 + 11.70sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.80sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.80sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.80sINFOwaypoint_followerActivating + 11.80sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 11.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 11.85sINFOros2-14process has finished cleanly [pid 7715] ×2 + 11.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.88sINFOforce_torque_sensor_broadcasterconfigure successful + 11.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.91sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.91sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.91sINFOvelocity_smootherActivating + 11.91sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.01sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.01sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.01sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 12.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 12.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.24sINFOros2-13process has finished cleanly [pid 7714] ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888823 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888823 ms (missed cycles : 3).[0m ×2 + 12.76sINFOros2_control_node[2026-09-04 19:22:32.213] [info] Controller state will be published at 20 Hz. ×2 + 12.76sINFOros2_control_node[2026-09-04 19:22:32.213] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.09sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.09sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.10sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.10sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 13.10sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.10sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 13.14sINFOros2-22process has finished cleanly [pid 7733] ×2 + 13.17sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.17sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.18sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.18sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.68sINFOros2_control_node[2026-09-04 19:22:33.134] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.68sINFOros2_control_node[2026-09-04 19:22:33.135] [info] Controller state will be published at 10 Hz. ×2 + 13.68sINFOros2_control_node[2026-09-04 19:22:33.136] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069446 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069446 ms (missed cycles : 2).[0m ×2 + 14.02sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.02sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.03sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.03sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km + 14.04sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_coix7imq --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_509na8mv --params-file /tmp/launch_params_7470d6km [0m ×2 + 14.04sINFOros2-21process has finished cleanly [pid 7728] ×2 + 14.05sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.08sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.08sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.10sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 14.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.43sINFOros2-17process has finished cleanly [pid 7718] ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813194 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813194 ms (missed cycles : 2).[0m ×2 + 15.31sWARNros2_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 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486546 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486546 ms (missed cycles : 3).[0m ×2 + 15.91sWARNros2_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 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 17.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 19.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.34sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.34sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.34sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.34sINFOobjective_server_nodecaller: ×10 + 19.34sINFOobjective_server_nodetype: 0 ×10 + 19.34sINFOobjective_server_nodename: "" ×10 + 19.34sINFOobjective_server_nodeinstance_id: "" ×10 + 19.34sINFOobjective_server_node ×10 + 19.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.38sINFOmove_groupClearing octomap...[0m ×2 + 19.38sINFOmove_groupOctomap cleared.[0m ×2 + 19.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 19.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 20.36sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 20.94sWARNros2_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 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 21.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 21.30sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 21.30sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 21.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 21.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 21.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.3s | 3 errors · 283 warnings · 252 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.647ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628643 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628643 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.724ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.867ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027854 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027854 ms (missed cycles : 2).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.048ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966232 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966232 ms (missed cycles : 2).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 3.26sINFOobjective_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 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sERRORobjective_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: 1788549969.93637061 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.78) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904567 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904567 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.479ms + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_nodecaller: ×4 + 3.85sINFOobjective_server_nodetype: 0 ×4 + 3.85sINFOobjective_server_nodename: "" ×4 + 3.85sINFOobjective_server_nodeinstance_id: "" ×4 + 3.85sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788549970.52178550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.567ms + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716329 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716329 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870143 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870143 ms (missed cycles : 4).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319089 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319089 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371923 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371923 ms (missed cycles : 3).[0m ×2 + 8.63sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.65sWARNros2_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 + 8.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.243ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666088 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666088 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.809ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805301 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805301 ms (missed cycles : 2).[0m ×2 + 10.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 10.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.517ms + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659410 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659410 ms (missed cycles : 3).[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.555ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537834 ms (missed cycles : 4). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537834 ms (missed cycles : 4).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 12.063ms + 12.77sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 6.610ms + 13.34sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 4.829ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191686 ms (missed cycles : 4). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191686 ms (missed cycles : 4).[0m ×2 + 13.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.410ms + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062738 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062738 ms (missed cycles : 2).[0m ×2 + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587053 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587053 ms (missed cycles : 3).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389156 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389156 ms (missed cycles : 3).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732175 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732175 ms (missed cycles : 2).[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688913 ms (missed cycles : 4). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688913 ms (missed cycles : 4).[0m ×2 + 19.33sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×10 + 19.35sWARNros2_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 ×10 + 19.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.359ms + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150271 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150271 ms (missed cycles : 2).[0m ×2 + 20.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424101 ms (missed cycles : 5). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424101 ms (missed cycles : 5).[0m ×2 + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790283 ms (missed cycles : 2). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790283 ms (missed cycles : 2).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms ×2 + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694645 ms (missed cycles : 3). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694645 ms (missed cycles : 3).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400613 ms (missed cycles : 4). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400613 ms (missed cycles : 4).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 24.77sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 24.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084295 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084295 ms (missed cycles : 2).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390871 ms (missed cycles : 4). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390871 ms (missed cycles : 4).[0m ×2 + 26.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865747 ms (missed cycles : 3). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865747 ms (missed cycles : 3).[0m ×2 + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815646 ms (missed cycles : 3). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815646 ms (missed cycles : 3).[0m ×2 + 29.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639748 ms (missed cycles : 3). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639748 ms (missed cycles : 3).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 30.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556108 ms (missed cycles : 4). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556108 ms (missed cycles : 4).[0m ×2 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms ×2 + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820458 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820458 ms (missed cycles : 2).[0m ×2 + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909656 ms (missed cycles : 3). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909656 ms (missed cycles : 3).[0m ×2 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630473 ms (missed cycles : 3). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630473 ms (missed cycles : 3).[0m ×2 + 34.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 34.92sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.92sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125314 ms (missed cycles : 2). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125314 ms (missed cycles : 2).[0m ×2 + 35.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.81sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667759 ms (missed cycles : 5). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667759 ms (missed cycles : 5).[0m ×2 + 36.49sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 37.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527562 ms (missed cycles : 3). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527562 ms (missed cycles : 3).[0m ×2 + 38.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283754 ms (missed cycles : 2). + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283754 ms (missed cycles : 2).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561326 ms (missed cycles : 4). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561326 ms (missed cycles : 4).[0m ×2 + 39.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 40.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503775 ms (missed cycles : 3). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503775 ms (missed cycles : 3).[0m ×2 + 40.86sWARNros2_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 + 40.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704824 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704824 ms (missed cycles : 2).[0m ×2 + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506937 ms (missed cycles : 4). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506937 ms (missed cycles : 4).[0m ×2 + 42.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708930 ms (missed cycles : 2). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708930 ms (missed cycles : 2).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623732 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623732 ms (missed cycles : 2).[0m ×2 + 45.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019817 ms (missed cycles : 3). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019817 ms (missed cycles : 3).[0m ×2 + 46.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891497 ms (missed cycles : 2). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891497 ms (missed cycles : 2).[0m ×2 + 47.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946233 ms (missed cycles : 2). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946233 ms (missed cycles : 2).[0m ×2 + 48.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172955 ms (missed cycles : 2). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172955 ms (missed cycles : 2).[0m ×2 + 49.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.771ms + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756050 ms (missed cycles : 3). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756050 ms (missed cycles : 3).[0m ×2 + 50.20sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.171933 ms (missed cycles : 5). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.171933 ms (missed cycles : 5).[0m ×2 + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812594 ms (missed cycles : 3). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812594 ms (missed cycles : 3).[0m ×2 + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828120 ms (missed cycles : 3). + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828120 ms (missed cycles : 3).[0m ×2 + 54.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923288 ms (missed cycles : 3). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923288 ms (missed cycles : 3).[0m ×2 + 54.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 55.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.862ms + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530525 ms (missed cycles : 3). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530525 ms (missed cycles : 3).[0m ×2 + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481261 ms (missed cycles : 3). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481261 ms (missed cycles : 3).[0m ×2 + 56.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 57.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225902 ms (missed cycles : 2). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225902 ms (missed cycles : 2).[0m ×2 + 58.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.741ms + 58.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691103 ms (missed cycles : 2). + 58.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691103 ms (missed cycles : 2).[0m ×2 + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529320 ms (missed cycles : 4). + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529320 ms (missed cycles : 4).[0m ×2 + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546018 ms (missed cycles : 3). + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546018 ms (missed cycles : 3).[0m ×2 + 61.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391478 ms (missed cycles : 2). + 61.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391478 ms (missed cycles : 2).[0m ×2 + 63.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234347 ms (missed cycles : 5). + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234347 ms (missed cycles : 5).[0m ×2 + 64.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150833 ms (missed cycles : 4). + 64.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150833 ms (missed cycles : 4).[0m ×2 + 65.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629073 ms (missed cycles : 2). + 65.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629073 ms (missed cycles : 2).[0m ×2 + 66.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752193 ms (missed cycles : 2). + 66.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752193 ms (missed cycles : 2).[0m ×2 + 66.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 67.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432030 ms (missed cycles : 2). + 67.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432030 ms (missed cycles : 2).[0m ×2 + 67.59sWARNros2_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 + 68.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 68.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459870 ms (missed cycles : 4). + 68.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459870 ms (missed cycles : 4).[0m ×2 + 68.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788550035.26195002 seconds ×3 + 68.78sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.78sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.88sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.88sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.19sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788550035.84336948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124879 ms (missed cycles : 3). + 69.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124879 ms (missed cycles : 3).[0m ×2 + 69.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.063ms + 70.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532290 ms (missed cycles : 3). + 70.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532290 ms (missed cycles : 3).[0m ×2 + 71.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162502 ms (missed cycles : 2). + 71.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162502 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 240 warnings · 202 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_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 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688454 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688454 ms (missed cycles : 3).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669619 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669619 ms (missed cycles : 2).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.543ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263408 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263408 ms (missed cycles : 2).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 9.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.349ms + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920978 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920978 ms (missed cycles : 2).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.003ms + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.173ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386763 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386763 ms (missed cycles : 3).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.667ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351946 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351946 ms (missed cycles : 3).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.695ms + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938034 ms (missed cycles : 4). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938034 ms (missed cycles : 4).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 7.408ms + 13.29sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 5.233ms + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741853 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741853 ms (missed cycles : 2).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.484ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 15.63sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862542 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862542 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159450 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159450 ms (missed cycles : 3).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 17.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.238ms + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930095 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930095 ms (missed cycles : 2).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566968 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566968 ms (missed cycles : 2).[0m ×2 + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052364 ms (missed cycles : 4). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052364 ms (missed cycles : 4).[0m ×2 + 20.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 21.19sWARNros2_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 + 21.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×4 + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742623 ms (missed cycles : 3). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742623 ms (missed cycles : 3).[0m ×2 + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347275 ms (missed cycles : 4). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347275 ms (missed cycles : 4).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.383ms + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413709 ms (missed cycles : 2). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413709 ms (missed cycles : 2).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.177ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227551 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227551 ms (missed cycles : 2).[0m ×2 + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687740 ms (missed cycles : 4). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687740 ms (missed cycles : 4).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 26.71sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 26.73sWARNros2_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 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612674 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612674 ms (missed cycles : 3).[0m ×2 + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605770 ms (missed cycles : 3). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605770 ms (missed cycles : 3).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229117 ms (missed cycles : 3). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229117 ms (missed cycles : 3).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547211 ms (missed cycles : 2). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547211 ms (missed cycles : 2).[0m ×2 + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922168 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922168 ms (missed cycles : 2).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171152 ms (missed cycles : 5). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171152 ms (missed cycles : 5).[0m ×2 + 32.28sWARNros2_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 + 32.31sWARNros2_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 + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463981 ms (missed cycles : 4). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463981 ms (missed cycles : 4).[0m ×2 + 34.19sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524788 ms (missed cycles : 4). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524788 ms (missed cycles : 4).[0m ×2 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107222 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107222 ms (missed cycles : 2).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095626 ms (missed cycles : 2). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095626 ms (missed cycles : 2).[0m ×2 + 37.34sWARNros2_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 + 37.36sWARNros2_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 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431184 ms (missed cycles : 2). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431184 ms (missed cycles : 2).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088656 ms (missed cycles : 2). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088656 ms (missed cycles : 2).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911444 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911444 ms (missed cycles : 2).[0m ×2 + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146047 ms (missed cycles : 2). + 40.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146047 ms (missed cycles : 2).[0m ×2 + 41.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843862 ms (missed cycles : 5). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843862 ms (missed cycles : 5).[0m ×2 + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289763 ms (missed cycles : 2). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289763 ms (missed cycles : 2).[0m ×2 + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991615 ms (missed cycles : 2). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991615 ms (missed cycles : 2).[0m ×2 + 44.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727987 ms (missed cycles : 2). + 44.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727987 ms (missed cycles : 2).[0m ×2 + 45.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765922 ms (missed cycles : 5). + 45.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765922 ms (missed cycles : 5).[0m ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514070 ms (missed cycles : 3). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514070 ms (missed cycles : 3).[0m ×2 + 47.98sWARNros2_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 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975951 ms (missed cycles : 2). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975951 ms (missed cycles : 2).[0m ×2 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430136 ms (missed cycles : 3). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430136 ms (missed cycles : 3).[0m ×2 + 49.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044575 ms (missed cycles : 4). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044575 ms (missed cycles : 4).[0m ×2 + 51.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753302 ms (missed cycles : 3). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753302 ms (missed cycles : 3).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms ×2 + 52.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841484 ms (missed cycles : 3). + 52.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841484 ms (missed cycles : 3).[0m ×2 + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952079 ms (missed cycles : 3). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952079 ms (missed cycles : 3).[0m ×2 + 53.61sWARNros2_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 + 53.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599094 ms (missed cycles : 3). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599094 ms (missed cycles : 3).[0m ×2 + 55.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383517 ms (missed cycles : 4). + 55.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383517 ms (missed cycles : 4).[0m ×2 + 55.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.317ms + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791682 ms (missed cycles : 2). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791682 ms (missed cycles : 2).[0m ×2 + 57.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112996 ms (missed cycles : 5). + 57.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112996 ms (missed cycles : 5).[0m ×2 + 58.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625626 ms (missed cycles : 5). + 58.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625626 ms (missed cycles : 5).[0m ×2 + 59.24sWARNros2_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 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.073480 ms (missed cycles : 5). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.073480 ms (missed cycles : 5).[0m ×2 + 59.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788550099.14921904 seconds ×3 + 59.88sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 59.88sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.37sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788550099.73599243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.587ms + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649007 ms (missed cycles : 3). + 60.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649007 ms (missed cycles : 3).[0m ×2 + 60.83sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 61.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.768ms + 61.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547996 ms (missed cycles : 2). + 61.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547996 ms (missed cycles : 2).[0m ×2 + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742352 ms (missed cycles : 2). + 62.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742352 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 241 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196762 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196762 ms (missed cycles : 4).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879427 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879427 ms (missed cycles : 5).[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910050 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910050 ms (missed cycles : 2).[0m ×2 + 2.40sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.40sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549810.52746153 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549811.10052848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.445ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785060 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785060 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012862 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012862 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541310 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541310 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435148 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435148 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120113 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120113 ms (missed cycles : 3).[0m ×2 + 7.57sWARNros2_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 + 8.15sWARNros2_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 + 8.16sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 3.515ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280548 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280548 ms (missed cycles : 4).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.776ms + 8.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.605ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241724 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241724 ms (missed cycles : 2).[0m ×2 + 9.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 10.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577351 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577351 ms (missed cycles : 2).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159163 ms (missed cycles : 4). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159163 ms (missed cycles : 4).[0m ×2 + 11.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 12.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686110 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686110 ms (missed cycles : 2).[0m ×2 + 12.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 13.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507540 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507540 ms (missed cycles : 2).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022132 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022132 ms (missed cycles : 2).[0m ×2 + 15.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.337ms + 15.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052309 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052309 ms (missed cycles : 2).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397478 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397478 ms (missed cycles : 2).[0m ×2 + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 18.08sWARNros2_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 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791688 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791688 ms (missed cycles : 3).[0m ×2 + 18.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159804 ms (missed cycles : 4). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159804 ms (missed cycles : 4).[0m ×2 + 19.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971609 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971609 ms (missed cycles : 3).[0m ×2 + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.219ms + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209081 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209081 ms (missed cycles : 2).[0m ×2 + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201901 ms (missed cycles : 3). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201901 ms (missed cycles : 3).[0m ×2 + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873814 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873814 ms (missed cycles : 2).[0m ×2 + 23.64sWARNros2_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 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.180ms + 24.25sWARNros2_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 + 24.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298607 ms (missed cycles : 5). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298607 ms (missed cycles : 5).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507673 ms (missed cycles : 3). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507673 ms (missed cycles : 3).[0m ×2 + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749687 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749687 ms (missed cycles : 2).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819509 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819509 ms (missed cycles : 2).[0m ×2 + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695886 ms (missed cycles : 2). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695886 ms (missed cycles : 2).[0m ×2 + 29.06sWARNros2_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 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 29.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.278ms + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249200 ms (missed cycles : 4). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249200 ms (missed cycles : 4).[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384839 ms (missed cycles : 5). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384839 ms (missed cycles : 5).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221750 ms (missed cycles : 2). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221750 ms (missed cycles : 2).[0m ×2 + 32.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840293 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840293 ms (missed cycles : 2).[0m ×2 + 34.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 34.08sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809738 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809738 ms (missed cycles : 2).[0m ×2 + 34.61sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881664 ms (missed cycles : 3). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881664 ms (missed cycles : 3).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136043 ms (missed cycles : 3). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136043 ms (missed cycles : 3).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768284 ms (missed cycles : 2). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768284 ms (missed cycles : 2).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700543 ms (missed cycles : 2). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700543 ms (missed cycles : 2).[0m ×2 + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254240 ms (missed cycles : 2). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254240 ms (missed cycles : 2).[0m ×2 + 40.13sWARNros2_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 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076767 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076767 ms (missed cycles : 2).[0m ×2 + 40.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112124 ms (missed cycles : 4). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112124 ms (missed cycles : 4).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801653 ms (missed cycles : 2). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801653 ms (missed cycles : 2).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821533 ms (missed cycles : 3). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821533 ms (missed cycles : 3).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067134 ms (missed cycles : 2). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067134 ms (missed cycles : 2).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238393 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238393 ms (missed cycles : 2).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325314 ms (missed cycles : 2). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325314 ms (missed cycles : 2).[0m ×2 + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389074 ms (missed cycles : 3). + 48.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389074 ms (missed cycles : 3).[0m ×2 + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 49.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239680 ms (missed cycles : 2). + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239680 ms (missed cycles : 2).[0m ×2 + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778351 ms (missed cycles : 2). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778351 ms (missed cycles : 2).[0m ×2 + 51.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363241 ms (missed cycles : 3). + 51.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363241 ms (missed cycles : 3).[0m ×2 + 51.31sWARNros2_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 + 51.33sWARNros2_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 + 51.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091998 ms (missed cycles : 4). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091998 ms (missed cycles : 4).[0m ×2 + 53.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432182 ms (missed cycles : 4). + 53.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432182 ms (missed cycles : 4).[0m ×2 + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540600 ms (missed cycles : 4). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540600 ms (missed cycles : 4).[0m ×2 + 55.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855494 ms (missed cycles : 2). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855494 ms (missed cycles : 2).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3).[0m ×2 + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3).[0m ×2 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3). + 59.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3).[0m ×2 + 59.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 59.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549867.82066107 seconds ×3 + 59.80sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.80sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.00sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.00sWARNlocal_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 + 60.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4). + 60.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4).[0m ×2 + 60.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549868.40213561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.522ms + 60.69sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 61.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2).[0m ×2 + 62.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 62.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2). + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.0s | 238 warnings · 218 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549906.94700456 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNros2_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 ×8 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549907.53198481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2).[0m ×2 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.545ms + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.86sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.86sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.86sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016104 ms (missed cycles : 5). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016104 ms (missed cycles : 5).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963311 ms (missed cycles : 5). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963311 ms (missed cycles : 5).[0m ×2 + 8.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 8.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.744ms + 8.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.552ms + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388239 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388239 ms (missed cycles : 3).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.417ms + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.648ms + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376732 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376732 ms (missed cycles : 3).[0m ×2 + 10.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.146ms + 11.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.972ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804267 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804267 ms (missed cycles : 3).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.494ms + 12.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.994ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785717 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785717 ms (missed cycles : 2).[0m ×2 + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937520 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937520 ms (missed cycles : 2).[0m ×2 + 13.52sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 13.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 13.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.886ms + 14.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.876ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241206 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241206 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.976ms + 15.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.179ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741439 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741439 ms (missed cycles : 2).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 4363 particles 723 points - 9.643ms + 16.62sINFOamclParticle filter update iteration stats: 3253 particles 723 points - 6.510ms + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242615 ms (missed cycles : 5). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242615 ms (missed cycles : 5).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 2826 particles 723 points - 5.546ms + 17.82sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 4.981ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993246 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993246 ms (missed cycles : 3).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 3.002ms + 19.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.114ms + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279884 ms (missed cycles : 4). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279884 ms (missed cycles : 4).[0m ×2 + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561520 ms (missed cycles : 3). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561520 ms (missed cycles : 3).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675806 ms (missed cycles : 3). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675806 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms ×2 + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013967 ms (missed cycles : 4). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013967 ms (missed cycles : 4).[0m ×2 + 22.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895521 ms (missed cycles : 3). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895521 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849058 ms (missed cycles : 3). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849058 ms (missed cycles : 3).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704209 ms (missed cycles : 2). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704209 ms (missed cycles : 2).[0m ×2 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239681 ms (missed cycles : 3). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239681 ms (missed cycles : 3).[0m ×2 + 27.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174042 ms (missed cycles : 3). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174042 ms (missed cycles : 3).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.883ms + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039150 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039150 ms (missed cycles : 2).[0m ×2 + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897285 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897285 ms (missed cycles : 2).[0m ×2 + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496216 ms (missed cycles : 3). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496216 ms (missed cycles : 3).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.058ms + 32.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.453ms + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126057 ms (missed cycles : 4). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126057 ms (missed cycles : 4).[0m ×2 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146579 ms (missed cycles : 3). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146579 ms (missed cycles : 3).[0m ×2 + 34.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 34.73sWARNros2_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 + 34.76sWARNros2_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 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909011 ms (missed cycles : 2). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909011 ms (missed cycles : 2).[0m ×2 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879014 ms (missed cycles : 5). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879014 ms (missed cycles : 5).[0m ×2 + 37.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737279 ms (missed cycles : 3). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737279 ms (missed cycles : 3).[0m ×2 + 37.53sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679294 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679294 ms (missed cycles : 2).[0m ×2 + 38.36sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276628 ms (missed cycles : 4). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276628 ms (missed cycles : 4).[0m ×2 + 39.89sWARNros2_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 + 39.91sWARNros2_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 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842070 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842070 ms (missed cycles : 2).[0m ×2 + 40.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 41.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752987 ms (missed cycles : 5). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752987 ms (missed cycles : 5).[0m ×2 + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785114 ms (missed cycles : 2). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785114 ms (missed cycles : 2).[0m ×2 + 42.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 43.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944831 ms (missed cycles : 2). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944831 ms (missed cycles : 2).[0m ×2 + 43.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768051 ms (missed cycles : 2). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768051 ms (missed cycles : 2).[0m ×2 + 45.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013493 ms (missed cycles : 3). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013493 ms (missed cycles : 3).[0m ×2 + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560220 ms (missed cycles : 2). + 46.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560220 ms (missed cycles : 2).[0m ×2 + 46.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 47.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.587ms + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992496 ms (missed cycles : 3). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992496 ms (missed cycles : 3).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 48.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393861 ms (missed cycles : 3). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393861 ms (missed cycles : 3).[0m ×2 + 49.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641924 ms (missed cycles : 3). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641924 ms (missed cycles : 3).[0m ×2 + 49.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178413 ms (missed cycles : 3). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178413 ms (missed cycles : 3).[0m ×2 + 51.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702293 ms (missed cycles : 3). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702293 ms (missed cycles : 3).[0m ×2 + 52.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724237 ms (missed cycles : 3). + 52.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724237 ms (missed cycles : 3).[0m ×2 + 53.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839317 ms (missed cycles : 3). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839317 ms (missed cycles : 3).[0m ×2 + 54.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 54.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788549958.99540019 seconds ×3 + 54.84sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 54.84sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 54.94sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.94sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569476 ms (missed cycles : 3). + 54.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569476 ms (missed cycles : 3).[0m ×2 + 55.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.32sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788549959.57507372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.499ms + 55.72sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912695 ms (missed cycles : 3). + 56.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912695 ms (missed cycles : 3).[0m ×2 + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550723 ms (missed cycles : 3). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550723 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 178 warnings · 379 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.58sINFOmove_groupClearing octomap...[0m ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×12 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 2.13sWARNros2_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 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 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 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758160 ms (missed cycles : 5). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758160 ms (missed cycles : 5).[0m ×2 + 7.20sWARNros2_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 ×6 + 7.79sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 3.043ms + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756978 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756978 ms (missed cycles : 3).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842870 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842870 ms (missed cycles : 3).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398063 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398063 ms (missed cycles : 3).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282494 ms (missed cycles : 4). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282494 ms (missed cycles : 4).[0m ×2 + 11.79sWARNros2_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 + 12.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080901 ms (missed cycles : 4). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080901 ms (missed cycles : 4).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432809 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432809 ms (missed cycles : 3).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481630 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481630 ms (missed cycles : 3).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536552 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536552 ms (missed cycles : 3).[0m ×2 + 16.80sWARNros2_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 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026054 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026054 ms (missed cycles : 2).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816338 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816338 ms (missed cycles : 2).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661234 ms (missed cycles : 2). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661234 ms (missed cycles : 2).[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076322 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076322 ms (missed cycles : 2).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443319 ms (missed cycles : 4). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443319 ms (missed cycles : 4).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103598 ms (missed cycles : 4). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103598 ms (missed cycles : 4).[0m ×2 + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722608 ms (missed cycles : 5). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722608 ms (missed cycles : 5).[0m ×2 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660363 ms (missed cycles : 3). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660363 ms (missed cycles : 3).[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131491 ms (missed cycles : 2). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131491 ms (missed cycles : 2).[0m ×2 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168431 ms (missed cycles : 4). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168431 ms (missed cycles : 4).[0m ×2 + 27.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337640 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337640 ms (missed cycles : 2).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238744 ms (missed cycles : 2). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238744 ms (missed cycles : 2).[0m ×2 + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799356 ms (missed cycles : 3). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799356 ms (missed cycles : 3).[0m ×2 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386128 ms (missed cycles : 2). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386128 ms (missed cycles : 2).[0m ×2 + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601030 ms (missed cycles : 3). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601030 ms (missed cycles : 3).[0m ×2 + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443101 ms (missed cycles : 4). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443101 ms (missed cycles : 4).[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039619 ms (missed cycles : 2). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039619 ms (missed cycles : 2).[0m ×2 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462854 ms (missed cycles : 3). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462854 ms (missed cycles : 3).[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279542 ms (missed cycles : 5). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279542 ms (missed cycles : 5).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708882 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708882 ms (missed cycles : 2).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806442 ms (missed cycles : 3). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806442 ms (missed cycles : 3).[0m ×2 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715303 ms (missed cycles : 2). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715303 ms (missed cycles : 2).[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954689 ms (missed cycles : 3). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954689 ms (missed cycles : 3).[0m ×2 + 41.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549459 ms (missed cycles : 3). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549459 ms (missed cycles : 3).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545637 ms (missed cycles : 3). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545637 ms (missed cycles : 3).[0m ×2 + 42.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5).[0m ×2 + 44.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3).[0m ×2 + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2).[0m ×2 + 46.12sINFOjoint_trajectory_controllerGoal reached, success! + 46.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549804.40539718 seconds ×3 + 46.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.17sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.17sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4).[0m ×2 + 46.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549804.98731184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.19sWARNros2_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 + 47.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3).[0m ×2 + 47.82sINFOobjective_server_nodeFound path in 0 iterations (3.6407e-05 s). ×2 + 47.89sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.8s | 153 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916284 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916284 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104433 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104433 ms (missed cycles : 2).[0m ×2 + 1.24sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.28sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788549874.18227482 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647615 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647615 ms (missed cycles : 3).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.52sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.83sINFOobjective_server_nodename: "" ×4 + 2.83sINFOobjective_server_nodeinstance_id: "" ×4 + 2.83sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788549875.76685953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084270 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084270 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356912 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356912 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969907 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969907 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.64sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939682 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939682 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226413 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226413 ms (missed cycles : 4).[0m ×2 + 7.69sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.684ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959803 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959803 ms (missed cycles : 2).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.428ms + 9.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.232ms + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464928 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464928 ms (missed cycles : 3).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.190ms + 10.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.068ms + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812732 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812732 ms (missed cycles : 3).[0m ×2 + 11.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.269ms + 11.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.689ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779913 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779913 ms (missed cycles : 3).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.812ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862932 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862932 ms (missed cycles : 2).[0m ×2 + 12.89sWARNros2_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 + 12.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 12.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 13.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.644ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077175 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077175 ms (missed cycles : 2).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 7.213ms + 14.79sINFOamclParticle filter update iteration stats: 2930 particles 723 points - 5.837ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600520 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600520 ms (missed cycles : 3).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 4.226ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486735 ms (missed cycles : 4). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486735 ms (missed cycles : 4).[0m ×2 + 15.98sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 3.004ms + 16.61sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.379ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096622 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096622 ms (missed cycles : 2).[0m ×2 + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 17.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635979 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635979 ms (missed cycles : 3).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407584 ms (missed cycles : 4). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407584 ms (missed cycles : 4).[0m ×2 + 19.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933198 ms (missed cycles : 5). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933198 ms (missed cycles : 5).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 21.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608511 ms (missed cycles : 3). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608511 ms (missed cycles : 3).[0m ×2 + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681378 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681378 ms (missed cycles : 2).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 23.90sWARNros2_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 + 23.92sWARNros2_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 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.411ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068676 ms (missed cycles : 4). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068676 ms (missed cycles : 4).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165507 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165507 ms (missed cycles : 2).[0m ×2 + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910044 ms (missed cycles : 2). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910044 ms (missed cycles : 2).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.547ms + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224622 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224622 ms (missed cycles : 2).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403111 ms (missed cycles : 3). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403111 ms (missed cycles : 3).[0m ×2 + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 29.43sWARNros2_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 + 29.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944710 ms (missed cycles : 3). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944710 ms (missed cycles : 3).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.020ms + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719767 ms (missed cycles : 2). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719767 ms (missed cycles : 2).[0m ×2 + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4).[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4).[0m ×2 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3).[0m ×2 + 34.05sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549906.94700456 seconds ×3 + 34.10sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.10sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.60sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.60sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549907.53198481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.02sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2).[0m ×2 + 35.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.545ms + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 95 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112996 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112996 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625626 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625626 ms (missed cycles : 5).[0m ×2 + 1.71sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.73sWARNros2_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 + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.073480 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.073480 ms (missed cycles : 5).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.28sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788550099.14921904 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.33sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.87sINFOobjective_server_nodecaller: ×6 + 2.87sINFOobjective_server_nodetype: 0 ×6 + 2.87sINFOobjective_server_nodename: "" ×6 + 2.87sINFOobjective_server_nodeinstance_id: "" ×6 + 2.87sINFOobjective_server_node ×6 + 2.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788550099.73599243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.587ms + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649007 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649007 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.768ms + 3.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547996 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547996 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742352 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742352 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744025 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744025 ms (missed cycles : 2).[0m ×2 + 6.93sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813165 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813165 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707934 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707934 ms (missed cycles : 2).[0m ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221812 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221812 ms (missed cycles : 2).[0m ×2 + 9.58sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.06sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 10.47sINFOobjective_server_nodeFound path in 33 iterations (0.0337516 s). ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911197 ms (missed cycles : 5). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911197 ms (missed cycles : 5).[0m ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 11.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936024 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936024 ms (missed cycles : 3).[0m ×2 + 11.76sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 12.13sWARNros2_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 + 12.16sWARNros2_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 + 12.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.62sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755527 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755527 ms (missed cycles : 3).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292156 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292156 ms (missed cycles : 2).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.552ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523488 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523488 ms (missed cycles : 3).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.160ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061642 ms (missed cycles : 3). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061642 ms (missed cycles : 3).[0m ×2 + 16.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.090ms + 17.19sWARNros2_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 + 17.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.352ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3).[0m ×2 + 18.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550115.44301105 seconds ×3 + 19.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.17sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550116.06127787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.24sINFOmove_groupClearing octomap...[0m ×2 + 19.24sINFOmove_groupOctomap cleared.[0m ×2 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2).[0m ×2 + 19.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.660ms + 19.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550116.66142654 seconds ×3 + 20.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.37sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4).[0m ×2 + 20.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550117.23041058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550117.86055589 seconds ×3 + 21.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5).[0m ×2 + 22.24sWARNros2_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 + 22.26sWARNros2_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 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 105 errors · 40 warnings · 516 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.090ms + 0.52sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.55sWARNros2_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 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.352ms + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3).[0m ×2 + 1.92sINFOjoint_trajectory_controllerGoal reached, success! + 1.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550115.44301105 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550116.06127787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.57sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.660ms + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550116.66142654 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550117.23041058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550117.86055589 seconds ×3 + 4.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5).[0m ×2 + 5.57sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.59sWARNros2_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 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863900 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863900 ms (missed cycles : 3).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329234 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329234 ms (missed cycles : 2).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016671 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016671 ms (missed cycles : 2).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104345 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104345 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040725 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040725 ms (missed cycles : 2).[0m ×2 + 10.50sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.53sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORweb_video_auth_proxy-38process has died [pid 7791, 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 + 10.54sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.55sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORweb_bridge_auth_proxy-37process has died [pid 7790, 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 + 10.56sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.61sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.62sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.63sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.65sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.66sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.67sINFOvideo_server-36process has finished cleanly [pid 7787] ×2 + 10.67sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.68sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.69sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.69sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.71sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.72sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.73sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.74sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.76sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.76sINFOcontroller_managerShutdown request received.... + 10.76sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.76sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.76sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.76sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.76sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.76sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.76sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.76sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.76sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.76sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.76sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.76sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.76sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.76sINFOcontroller_managerShutting down the controller manager. + 10.77sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.78sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.79sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.79sERRORmove_group-24process has died [pid 7749, 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__w_9w6lw --params-file /tmp/launch_params_3vtml9qh --params-file /tmp/launch_params_jg83fpwk --params-file /tmp/launch_params_h1cda80_ --params-file /tmp/launch_params_nstvv3ak --params-file /tmp/launch_params_5lfl780c']. ×2 + 10.80sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.81sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.82sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.83sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.84sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.85sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.86sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.86sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.86sINFOmap_serverDeactivating + 10.86sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.87sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.87sINFOvideo_server2026/09/04 19:28:44 INF shutting down gracefully ×2 + 10.87sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.87sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.87sINFOvideo_server2026/09/04 19:28:44 INF [WebRTC] closing ×2 + 10.87sINFOvideo_server2026/09/04 19:28:44 INF [RTSP] closing ×2 + 10.87sINFOvideo_server2026/09/04 19:28:44 INF waiting for running hooks ×2 + 10.87sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.87sINFOmap_serverCleaning up + 10.87sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.87sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.87sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.88sINFOcontroller_serverDeactivating + 10.88sINFOlocal_costmap.local_costmapDeactivating + 10.88sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.88sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.88sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.88sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.88sERRORmove_groupStack trace (most recent call last) in thread 8417: ×2 + 10.88sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.88sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f670da4aa63, in __clone ×2 + 10.88sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f670d9bdaa3, in ×2 + 10.88sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f670dc4fdb3, in ×2 + 10.88sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f670e3b4a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.88sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f670dfe1620, in rclcpp::Rate::sleep() ×2 + 10.88sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f670df23d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.88sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f670dee5087, in ×2 + 10.88sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f670dc1e390, in __cxa_throw ×2 + 10.88sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f670dc08a54, in std::terminate() ×2 + 10.88sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f670dc1e0d9, in ×2 + 10.88sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f670dc08ff4, in ×2 + 10.88sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f670d9498fe, in abort ×2 + 10.88sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f670d96627d, in raise ×2 + 10.88sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f670d9bfb2c, in pthread_kill ×2 + 10.88sERRORmove_groupAborted (Signal sent by tkill() 7749 0) ×2 + 10.88sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.88sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.88sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.88sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.88sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.88sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.88sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.88sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.88sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.88sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.88sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.88sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.88sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.88sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.88sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.88sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.88sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.88sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.88sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.88sINFOodom_qos_relay.pymain() ×2 + 10.88sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.88sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.88sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.88sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.88sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.88sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.88sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.89sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.89sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.89sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.89sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.89sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.89sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.89sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.89sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.89sERRORamclThe bond connection to the lifecycle manager has been broken + 10.90sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.91sINFOcontroller_serverCleaning up + 10.92sINFOlocal_costmap.local_costmapCleaning up + 10.96sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.96sINFOsmoother_serverDeactivating + 10.96sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.97sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.97sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.97sINFOsmoother_serverCleaning up + 10.98sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.98sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.98sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.98sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.98sINFOvelocity_smootherDeactivating + 10.98sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.99sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.99sINFOplanner_serverDeactivating + 10.99sINFOglobal_costmap.global_costmapDeactivating + 11.09sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.09sINFOwaypoint_followerDeactivating + 11.09sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.12sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.21sINFObt_navigatorDeactivating + 11.21sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.32sINFObehavior_serverDeactivating + 11.32sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.32sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.32sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.33sINFOplanner_serverCleaning up + 11.35sINFOglobal_costmap.global_costmapCleaning up + 11.36sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.36sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.39sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.39sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.39sINFObt_navigatorCleaning up + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.43sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.43sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.44sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.44sINFOvelocity_smootherCleaning up + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.44sINFOwaypoint_followerCleaning up + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.50sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.50sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.50sINFObehavior_serverCleaning up + 11.55sINFObt_navigatorCompleted Cleaning up + 11.55sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.55sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.55sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.56sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.56sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.56sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.56sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.67sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7786] ×2 + 11.67sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.76sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7779] ×2 + 11.76sINFOui_teleop_bridge-33process has finished cleanly [pid 7784] ×2 + 11.77sINFOexecute_objective_bridge-32process has finished cleanly [pid 7783] ×2 + 11.78sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7778] ×2 + 11.79sINFOcomponent_container_mt-31process has finished cleanly [pid 7782] ×2 + 11.80sINFOparameter_manager_node-25process has finished cleanly [pid 7776] ×2 + 11.82sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7712] ×2 + 11.83sINFOwaypoint_manager_node-26process has finished cleanly [pid 7777] ×2 + 11.83sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7711] ×2 + 11.84sINFOstatic_transform_publisher-9process has finished cleanly [pid 7629] ×2 + 11.85sINFOstatic_transform_publisher-8process has finished cleanly [pid 7628] ×2 + 11.86sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.86sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.86sINFOlidar_flattener.pymain() ×2 + 11.86sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.86sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.86sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.86sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.86sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.86sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.86sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.86sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.86sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.86sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.86sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.86sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.86sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.86sINFOobjective_server_node[2026-09-04 19:28:45.356] [moveit_pro_license] [critical] ×2 + 11.86sINFOobjective_server_node************************************************* ×4 + 11.86sINFOobjective_server_node* MoveIt Pro License ×2 + 11.86sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.88sINFOstatic_transform_publisher-4process has finished cleanly [pid 7624] ×2 + 11.89sERRORcomponent_container_isolated-1process has died [pid 7621, 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_xh7p9p4j --params-file /tmp/launch_params_52c2qnnl -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.90sINFOstatic_transform_publisher-3process has finished cleanly [pid 7623] ×2 + 11.91sERRORlidar_flattener.py-7process has died [pid 7627, 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_g2vjlu42']. ×2 + 11.93sINFOobjective_server_node_main-29process has finished cleanly [pid 7780] ×2 + 11.93sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.94sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7626] ×2 + 11.94sERRORodom_qos_relay.py-5process has died [pid 7625, 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 + 12.21sERRORcomponent_container_isolated-2process has died [pid 7622, 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_xh7p9p4j --params-file /tmp/launch_params_8be8a855 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.89sINFOcomponent_container_mt-30process has finished cleanly [pid 7781] ×2 + 13.49sINFOros2_control_node-12process has finished cleanly [pid 7713] ×2 + 13.62sINFOweb_bridge-34process has finished cleanly [pid 7785] ×2 + 13.62sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 91 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702293 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702293 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724237 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724237 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839317 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839317 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788549958.99540019 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569476 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569476 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788549959.57507372 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 + 3.53sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.499ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912695 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912695 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550723 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550723 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945138 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945138 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151992 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151992 ms (missed cycles : 4).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.859ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118064 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118064 ms (missed cycles : 2).[0m ×2 + 8.72sWARNros2_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 ×2 + 8.74sWARNros2_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 + 9.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.638ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466787 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466787 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.592ms + 10.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.647ms + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628643 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628643 ms (missed cycles : 3).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.724ms + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.867ms + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027854 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027854 ms (missed cycles : 2).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.048ms + 12.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966232 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966232 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 13.73sINFOobjective_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 + 13.74sINFOjoint_trajectory_controllerGot request to cancel goal + 13.74sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.74sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.79sERRORobjective_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: 1788549969.93637061 seconds ×3 + 13.85sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.85sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.78) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904567 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904567 ms (missed cycles : 2).[0m ×2 + 14.00sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.479ms + 14.05sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.05sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788549970.52178550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.567ms + 14.81sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716329 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716329 ms (missed cycles : 2).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870143 ms (missed cycles : 4). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870143 ms (missed cycles : 4).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319089 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319089 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 67 warnings · 142 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549867.82066107 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549868.40213561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.522ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2).[0m ×2 + 5.40sWARNros2_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 + 5.42sWARNros2_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 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2).[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714493 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714493 ms (missed cycles : 2).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916284 ms (missed cycles : 5). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916284 ms (missed cycles : 5).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104433 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104433 ms (missed cycles : 2).[0m ×2 + 9.27sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788549874.18227482 seconds ×3 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647615 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647615 ms (missed cycles : 3).[0m ×2 + 10.51sWARNros2_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 + 10.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 10.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788549875.76685953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084270 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084270 ms (missed cycles : 2).[0m ×2 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 12.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356912 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356912 ms (missed cycles : 3).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969907 ms (missed cycles : 4). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969907 ms (missed cycles : 4).[0m ×2 + 13.58sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 62 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752193 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432030 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432030 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_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 ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459870 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459870 ms (missed cycles : 4).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.31sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788550035.26195002 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_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 + 2.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.45sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.45sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.55sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.55sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×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 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788550035.84336948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124879 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124879 ms (missed cycles : 3).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.063ms + 3.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532290 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532290 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162502 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162502 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 6.55sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.57sWARNros2_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 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 8.81sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 9.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.36sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 11.62sWARNros2_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 + 11.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 12.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 44 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.54sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549804.40539718 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.10sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.10sINFOobjective_server_nodecaller: ×4 + 3.10sINFOobjective_server_nodetype: 0 ×4 + 3.10sINFOobjective_server_nodename: "" ×4 + 3.10sINFOobjective_server_nodeinstance_id: "" ×4 + 3.10sINFOobjective_server_node ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549804.98731184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3).[0m ×2 + 4.18sWARNros2_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.6407e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196762 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196762 ms (missed cycles : 4).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 7.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879427 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879427 ms (missed cycles : 5).[0m ×2 + 7.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910050 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910050 ms (missed cycles : 2).[0m ×2 + 8.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549810.52746153 seconds ×3 + 8.74sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.22sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549811.10052848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.30sWARNros2_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 + 9.32sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.445ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785060 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785060 ms (missed cycles : 2).[0m ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012862 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012862 ms (missed cycles : 4).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541310 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541310 ms (missed cycles : 3).[0m ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 29 warnings · 118 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.160ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061642 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061642 ms (missed cycles : 3).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.090ms + 1.08sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.352ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550115.44301105 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550116.06127787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2).[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.660ms + 3.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550116.66142654 seconds ×3 + 4.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550117.23041058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550117.86055589 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5).[0m ×2 + 6.12sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.14sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863900 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863900 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 307 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.58sINFOmove_groupClearing octomap...[0m ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 2.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 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 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549804.40539718 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549804.98731184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3).[0m ×2 + 4.18sWARNros2_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.6407e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOjoint_trajectory_controllerReceived new action goal + 4.33sINFOjoint_trajectory_controllerAccepted new action goal + 4.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208565 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643001 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682545 ms (missed cycles : 2).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788549804.40539718 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733999 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788549804.98731184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459091 ms (missed cycles : 3).[0m ×2 + 4.18sWARNros2_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.6407e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOjoint_trajectory_controllerReceived new action goal + 4.33sINFOjoint_trajectory_controllerAccepted new action goal + 4.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 22 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196762 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196762 ms (missed cycles : 4).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879427 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879427 ms (missed cycles : 5).[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910050 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910050 ms (missed cycles : 2).[0m ×2 + 2.40sINFOjoint_trajectory_controllerGoal reached, success! + 2.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788549810.52746153 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.45sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788549811.10052848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.445ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785060 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785060 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012862 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012862 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541310 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541310 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 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 | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549867.82066107 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549868.40213561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.522ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2).[0m ×2 + 5.40sWARNros2_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 + 5.42sWARNros2_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 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549867.82066107 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549868.40213561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.522ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2).[0m ×2 + 5.40sWARNros2_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 + 5.42sWARNros2_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 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549867.82066107 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549868.40213561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.522ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2).[0m ×2 + 5.40sWARNros2_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 + 5.42sWARNros2_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 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549867.82066107 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549868.40213561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.522ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2).[0m ×2 + 5.40sWARNros2_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 + 5.42sWARNros2_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 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769965 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769753 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933626 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788549867.82066107 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260771 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788549868.40213561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.522ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886524 ms (missed cycles : 2).[0m ×2 + 5.40sWARNros2_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 + 5.42sWARNros2_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 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581825 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 42 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549906.94700456 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNros2_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 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549907.53198481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2).[0m ×2 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.545ms + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 42 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549906.94700456 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNros2_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 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549907.53198481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2).[0m ×2 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.545ms + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 42 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432706 ms (missed cycles : 4).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219182 ms (missed cycles : 4).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345394 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788549906.94700456 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNros2_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 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788549907.53198481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809925 ms (missed cycles : 2).[0m ×2 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.545ms + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799798 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104237 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 26 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 26 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 | 26 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 | 26 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 26 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 | 26 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 | 26 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544985 ms (missed cycles : 3).[0m ×2 + 0.17sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730833 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788550041.75350499 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788550042.34908342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636156 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056108 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066496 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNros2_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 + 5.72sINFOobjective_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 | 26 warnings · 118 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.160ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061642 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061642 ms (missed cycles : 3).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.090ms + 1.08sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922635 ms (missed cycles : 3).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.352ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589212 ms (missed cycles : 3).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788550115.44301105 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550116.06127787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229913 ms (missed cycles : 2).[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.660ms + 3.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550116.66142654 seconds ×3 + 4.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513473 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550117.23041058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550117.86055589 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684018 ms (missed cycles : 5).[0m ×2 + 6.12sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.14sWARNros2_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 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486546 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486546 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 4.54sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 5.12sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 27 warnings · 300 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486546 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486546 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 4.54sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 5.12sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324452 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_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 6.655052 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655052 ms (missed cycles : 4).[0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920034 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549758.83361387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549758.84395742 seconds ×3 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549759.41938782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549759.42950916 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803974 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549760.00521564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549760.15582395 seconds ×3 + 3.36sWARNros2_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 ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244173 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549760.73995638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549760.80008578 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788549761.37706256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967072 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992465 ms (missed cycles : 2).[0m ×2 | ||||