MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.8s	12 errors · 318 warnings · 1516 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/2026-09-09-13-30-28-549662-f6694e31f7f3-7564 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.29sINFOstatic_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' + 4.29sINFOstatic_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' + 4.29sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 4.31sINFOstatic_tf_lidar_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' + 4.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.56sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.59sINFOcontroller_managerupdate rate is 600 Hz + 4.59sINFOcontroller_managerOverruns handling is : enabled + 4.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.65sINFOros2_control_node-12process started with pid [7706] ×2 + 4.66sINFOmove_group-24process started with pid [7735] ×2 + 4.66sINFOparameter_manager_node-25process started with pid [7769] ×2 + 4.66sINFOwaypoint_manager_node-26process started with pid [7774] ×2 + 4.66sINFOmove_joint_resampler_node-27process started with pid [7781] ×2 + 4.66sINFOmove_end_effector_resampler_node-28process started with pid [7783] ×2 + 4.66sINFOobjective_server_node_main-29process started with pid [7784] ×2 + 4.66sINFOcomponent_container_mt-30process started with pid [7785] ×2 + 4.66sINFOcomponent_container_mt-31process started with pid [7788] ×2 + 4.66sINFOexecute_objective_bridge-32process started with pid [7789] ×2 + 4.66sINFOui_teleop_bridge-33process started with pid [7791] ×2 + 4.66sINFOweb_bridge-34process started with pid [7808] ×2 + 4.66sINFOtf2_web_republisher_node-35process started with pid [7809] ×2 + 4.66sINFOvideo_server-36process started with pid [7810] ×2 + 4.66sINFOweb_bridge_auth_proxy-37process started with pid [7811] ×2 + 4.66sINFOweb_video_auth_proxy-38process started with pid [7828] ×2 + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.66sINFOcontroller_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. + 4.66sINFOcomponent_container_isolated-1process started with pid [7614] ×2 + 4.66sINFOcomponent_container_isolated-2process started with pid [7615] ×2 + 4.66sINFOstatic_transform_publisher-3process started with pid [7616] ×2 + 4.66sINFOstatic_transform_publisher-4process started with pid [7617] ×2 + 4.66sINFOodom_qos_relay.py-5process started with pid [7618] ×2 + 4.66sINFOforward_stereo_publisher.py-6process started with pid [7619] ×2 + 4.66sINFOlidar_flattener.py-7process started with pid [7620] ×2 + 4.66sINFOstatic_transform_publisher-8process started with pid [7621] ×2 + 4.66sINFOstatic_transform_publisher-9process started with pid [7622] ×2 + 4.66sINFOscan_to_scan_filter_chain-10process started with pid [7704] ×2 + 4.66sINFOscan_to_scan_filter_chain-11process started with pid [7705] ×2 + 4.66sINFOros2-13process started with pid [7707] ×2 + 4.66sINFOros2-14process started with pid [7708] ×2 + 4.66sINFOros2-15process started with pid [7709] ×2 + 4.66sINFOros2-16process started with pid [7710] ×2 + 4.66sINFOros2-17process started with pid [7711] ×2 + 4.66sINFOros2-18process started with pid [7712] ×2 + 4.66sINFOros2-19process started with pid [7713] ×2 + 4.66sINFOros2-20process started with pid [7720] ×2 + 4.66sINFOros2-21process started with pid [7723] ×2 + 4.66sINFOros2-22process started with pid [7733] ×2 + 4.66sINFOros2-23process started with pid [7734] ×2 + 4.72sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.72sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.72sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.72sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.72sINFOcontroller_serverCreating controller server + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061397 ms (missed cycles : 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 + 4.74sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.74sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.74sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.74sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.74sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.74sWARNros2_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 + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061397 ms (missed cycles : 2).[0m ×2 + 4.76sINFOlocal_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. + 4.77sINFOlocal_costmap.local_costmapCreating Costmap + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.78sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.82sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.84sINFOsmoother_serverCreating smoother server + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.86sINFOmap_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. + 4.86sINFOmap_serverCreating + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.87sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.88sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.89sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.91sINFOplanner_serverCreating + 4.92sINFOvideo_server2026/09/09 13:30:35 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.92sINFOvideo_server2026/09/09 13:30:35 INF configuration loaded from /tmp/moveit-webrtc-bpg0rdt2/mediamtx.yml ×2 + 4.92sINFOvideo_server2026/09/09 13:30:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.92sINFOvideo_server2026/09/09 13:30:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.96sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.97sINFOglobal_costmap.global_costmapCreating Costmap + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.00sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.02sINFOlifecycle_manager_localizationCreating + 5.05sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.06sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.06sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.06sINFOmap_serverConfiguring + 5.06sINFObehavior_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. + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.07sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.07sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.07sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.07sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.08sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.08sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.17sINFObt_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. + 5.19sINFObt_navigatorCreating + 5.20sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.20sINFOamclConfiguring + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.21sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.21sINFOmap_serverActivating + 5.22sINFOcontroller_managerReceived robot description from topic. + 5.22sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.22sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.22sINFOrobot_state_publisherRobot initialized + 5.23sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.23sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.24sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.28sINFOwaypoint_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. + 5.28sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.28sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.29sINFOwaypoint_followerCreating + 5.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.35sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.35sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.35sINFOamclActivating + 5.35sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.35sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.36sINFOamclSubscribed to map_topic: /map + 5.36sINFOvelocity_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. + 5.36sINFOamclSubscribed to scan_topic: /scan_merged + 5.36sINFOamclCreated reinitialize_global_localization service + 5.36sINFOamclCreated request_nomotion_update service + 5.37sINFOamclA new map was received + 5.37sINFOamclInitializing particle filter instance + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.41sWARNlaser_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. + 5.42sWARNscan_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 + 5.44sWARNlaser_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. + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.50sINFOlifecycle_manager_navigationCreating + 5.53sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.55sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.56sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.56sINFOcontroller_serverConfiguring controller interface + 5.56sINFOcontroller_servergetting progress checker plugins.. + 5.56sINFOcontroller_servergetting goal checker plugins.. + 5.56sINFOcontroller_serverController frequency set to 20.0000Hz + 5.56sINFOlocal_costmap.local_costmapConfiguring + 5.56sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.57sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.58sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.612726 seconds + 5.58sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.58sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.58sINFOmove_groupLoaded robot model in 0.612726 seconds[0m ×2 + 5.58sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.58sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.60sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.66sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.66sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.67sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.70sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.70sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.71sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.71sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.71sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.74sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471830 ms (missed cycles : 4). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471830 ms (missed cycles : 4).[0m ×2 + 5.77sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.77sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.79sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.79sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.79sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.79sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.81sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.81sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.82sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.82sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.82sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.82sINFOcontroller_serverOptimizer reset ×2 + 5.83sINFOcontroller_serverController Server has FollowPath controllers available. + 5.85sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.85sINFOsmoother_serverConfiguring smoother server + 5.85sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.86sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.88sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.88sINFOplanner_serverConfiguring + 5.88sINFOglobal_costmap.global_costmapConfiguring + 5.89sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.90sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.90sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.90sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.90sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.91sINFOamclParticle filter initialization completed + 5.91sINFOamclInitializing particles from estimated pose and covariance + 5.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.93sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.93sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.93sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.95sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.96sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.96sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.99sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.99sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.01sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.01sINFOplanner_serverPlanner Server has GridBased planners available. + 6.01sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.04sINFObehavior_serverConfiguring + 6.04sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.04sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.05sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.05sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.06sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.06sINFObehavior_serverConfiguring spin + 6.11sINFObehavior_serverConfiguring backup + 6.13sINFObehavior_serverConfiguring drive_on_heading + 6.15sINFObehavior_serverConfiguring assisted_teleop + 6.18sINFObehavior_serverConfiguring wait + 6.19sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.19sINFObt_navigatorConfiguring + 6.21sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.22sWARNbt_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 + 6.37sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.37sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.37sWARNmove_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. + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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 + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.38sWARNmove_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. + 6.38sWARNmove_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. + 6.38sWARNmove_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 + 6.38sWARNmove_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 + 6.38sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.44sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.44sINFOwaypoint_followerConfiguring + 6.45sINFOwaypoint_manager_nodeLoaded robot model in 0.330437 seconds[0m ×2 + 6.45sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.45sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.47sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.47sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.47sINFOvelocity_smootherConfiguring velocity smoother + 6.48sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.48sINFOcontroller_serverActivating + 6.48sINFOlocal_costmap.local_costmapActivating + 6.48sINFOlocal_costmap.local_costmapChecking transform + 6.48sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×5 + 6.58sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.58sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.58sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.58sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.61sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.61sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.72sINFOmove_group[2026-09-09 13:30:36.950] [moveit_pro_license] [info] ×2 + 6.72sINFOmove_group************************************************* ×4 + 6.72sINFOmove_group* MoveIt Pro License ×2 + 6.72sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090786 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090786 ms (missed cycles : 2).[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.26sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.26sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.26sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.26sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.26sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.26sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.26sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.26sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.27sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.27sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.27sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.27sINFOwaypoint_manager_node[2026-09-09 13:30:37.495] [moveit_pro_license] [info] ×2 + 7.27sINFOwaypoint_manager_node************************************************* ×4 + 7.27sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.27sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.27sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.46sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.46sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.46sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.46sWARNros2_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 + 7.46sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.46sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.46sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.46sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.46sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.46sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.46sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.46sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.46sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.47sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.47sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.47sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.47sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.47sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.47sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.47sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.47sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.47sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.47sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.47sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.47sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.47sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.47sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.47sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.47sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.47sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.47sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.57sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.57sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.57sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.57sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.57sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 7.57sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 7.60sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.60sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.60sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.60sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.60sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.60sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.60sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.60sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.61sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.62sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.62sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.67sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.67sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.68sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.76sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.76sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.76sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.84sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829964 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829964 ms (missed cycles : 2).[0m ×2 + 7.87sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.87sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.87sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.87sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.87sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.87sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.88sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.88sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.88sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.88sINFOstreaming_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) + 7.88sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.88sINFOcomponent_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 + 7.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.88sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 7.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 7.93sINFOobjective_server_node[2026-09-09 13:30:38.157] [moveit_pro_license] [info] ×2 + 7.93sINFOobjective_server_node************************************************* ×4 + 7.93sINFOobjective_server_node* MoveIt Pro License ×2 + 7.93sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.97sINFOros2-17process has finished cleanly [pid 7711] ×2 + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.02sINFOobjective_server_nodeLoaded robot model in 0.0353281 seconds[0m ×2 + 8.02sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.02sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.03sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.05sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.14sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.14sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.15sINFOstreaming_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) + 8.15sINFOcomponent_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 + 8.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.20sWARNcomponent_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 + 8.41sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.41sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.41sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.41sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.42sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 8.42sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 8.47sINFOros2-19process has finished cleanly [pid 7713] ×2 + 8.48sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.48sWARNobjective_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. + 8.48sWARNobjective_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. + 8.48sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.48sWARNobjective_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. + 8.48sWARNobjective_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. + 8.48sWARNobjective_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 + 8.48sWARNobjective_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 + 8.48sWARNobjective_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. + 8.48sWARNobjective_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. + 8.48sWARNobjective_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 + 8.48sWARNobjective_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 + 8.48sWARNobjective_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. + 8.48sWARNobjective_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 + 8.48sWARNobjective_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. + 8.48sWARNobjective_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 + 8.49sWARNobjective_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 + 8.49sWARNobjective_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. + 8.49sWARNobjective_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 + 8.49sWARNobjective_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. + 8.49sWARNobjective_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 + 8.49sWARNobjective_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 + 8.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.50sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.51sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.51sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.56sINFOobjective_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 + 8.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.59sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.59sINFOcomponent_container_mtLoaded robot model in 0.386881 seconds[0m ×2 + 8.59sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.59sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.65sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.65sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.83sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.83sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.83sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.83sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.84sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 8.84sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 8.86sINFOros2-15process has finished cleanly [pid 7709] ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704792 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704792 ms (missed cycles : 2).[0m ×2 + 8.90sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.90sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.90sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.90sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.91sINFOplatform_velocity_controllerconfigure successful + 8.91sINFOros2_control_nodeconfigure successful[0m ×6 + 8.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.91sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.92sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.98sINFOlocal_costmap.local_costmapstart + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.08sWARNcontroller_serverParameter controller_server.verbose not found + 9.08sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.19sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.19sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.19sINFOsmoother_serverActivating + 9.19sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.22sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.22sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.22sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.22sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.23sINFOcomponent_container_mt[2026-09-09 13:30:39.454] [moveit_pro_license] [info] ×2 + 9.23sINFOcomponent_container_mt************************************************* ×4 + 9.23sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.23sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.25sINFOros2-16process has finished cleanly [pid 7710] ×2 + 9.30sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.30sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.30sINFOplanner_serverActivating + 9.30sINFOglobal_costmap.global_costmapActivating + 9.30sINFOglobal_costmap.global_costmapChecking transform + 9.31sINFOglobal_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. + 9.33sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 9.33sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 9.33sINFOmove_groupMoveGroup debug mode is ON + 9.33sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.34sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.38sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.38sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.38sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.38sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.38sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.38sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.38sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.38sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.39sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.39sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.40sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.40sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.50sINFOmove_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 ****************************************************** + 9.50sINFOmove_group ×8 + 9.50sINFOmove_group****************************************************** ×4 + 9.50sINFOmove_group* MoveGroup using: ×2 + 9.50sINFOmove_group* - apply_planning_scene_service ×2 + 9.50sINFOmove_group* - clear_octomap_service ×2 + 9.50sINFOmove_group* - get_group_urdf ×2 + 9.50sINFOmove_group* - load_geometry_from_file ×2 + 9.50sINFOmove_group* - get_planning_scene_service ×2 + 9.50sINFOmove_group* - kinematics_service ×2 + 9.50sINFOmove_group* - save_geometry_to_file ×2 + 9.50sINFOmove_group* - GetPlanningGroups ×2 + 9.50sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.50sINFOmove_group[0m ×2 + 9.50sINFOmove_group[92mYou can start planning now![0m ×2 + 9.57sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.58sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.65sWARNros2_control_nodeCamera render tick took 1.01 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.68sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.69sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.69sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.69sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 10.806ms + 9.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.81sINFOglobal_costmap.global_costmapstart + 9.83sINFOros2_control_node[2026-09-09 13:30:40.053] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.83sINFOros2_control_node[2026-09-09 13:30:40.058] [info] Controller state will be published at 10 Hz. ×2 + 9.83sINFOros2_control_node[2026-09-09 13:30:40.059] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.89sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765344 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765344 ms (missed cycles : 3).[0m ×2 + 10.13sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.13sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.13sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.14sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.14sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 10.14sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 10.18sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.18sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.19sINFOros2-21process has finished cleanly [pid 7723] ×2 + 10.20sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.20sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.20sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.20sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.21sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.21sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.34sWARNros2_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 + 10.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.57sINFOros2-14process has finished cleanly [pid 7708] ×2 + 10.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 10.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 10.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.68sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.68sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.86sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 10.86sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 10.96sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 10.96sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 10.96sINFObehavior_serverActivating + 10.96sINFObehavior_serverActivating spin + 10.96sINFObehavior_serverActivating backup + 10.96sINFObehavior_serverActivating drive_on_heading + 10.96sINFObehavior_serverActivating assisted_teleop + 10.96sINFObehavior_serverActivating wait + 10.96sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025782 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025782 ms (missed cycles : 3).[0m ×2 + 11.07sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.07sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.07sINFObt_navigatorActivating + 11.11sINFOros2_control_node[2026-09-09 13:30:41.333] [info] Controller state will be published at 20 Hz. ×2 + 11.11sINFOros2_control_node[2026-09-09 13:30:41.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.14sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.25sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.25sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.25sINFOwaypoint_followerActivating + 11.25sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.35sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.35sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.35sINFOvelocity_smootherActivating + 11.35sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 11.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 11.46sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.46sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.46sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.47sINFOros2-22process has finished cleanly [pid 7733] ×2 + 11.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.49sINFOforce_torque_sensor_broadcasterconfigure successful + 11.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.82sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.82sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.82sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 11.82sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.82sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.82sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 11.83sINFOros2-13process has finished cleanly [pid 7707] ×2 + 11.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.88sINFOplatform_velocity_controller_nav2configure successful + 12.23sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.23sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 12.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.24sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 12.25sINFOros2-18process has finished cleanly [pid 7712] ×2 + 12.29sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.29sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960085 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960085 ms (missed cycles : 3).[0m ×2 + 12.71sINFOros2_control_node[2026-09-09 13:30:42.936] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.71sINFOros2_control_node[2026-09-09 13:30:42.938] [info] Controller state will be published at 10 Hz. ×2 + 12.71sINFOros2_control_node[2026-09-09 13:30:42.939] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.05sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.05sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 13.05sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.05sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf + 13.05sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 13.05sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_281iznw2 --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_w69xjpyb --params-file /tmp/launch_params_nf16dukf [0m ×2 + 13.07sINFOros2-20process has finished cleanly [pid 7720] ×2 + 13.10sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 13.10sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 13.11sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 13.11sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293404 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293404 ms (missed cycles : 2).[0m ×2 + 13.49sINFOros2_control_node[2026-09-09 13:30:43.722] [info] Controller state will be published at 20 Hz. ×2 + 13.50sINFOros2_control_node[2026-09-09 13:30:43.724] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.82sINFOros2-23process has finished cleanly [pid 7734] ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584231 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584231 ms (missed cycles : 3).[0m ×2 + 15.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 17.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 18.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.67sINFOobjective_server_nodecaller: ×10 + 18.67sINFOobjective_server_nodetype: 0 ×10 + 18.67sINFOobjective_server_nodename: "" ×10 + 18.67sINFOobjective_server_nodeinstance_id: "" ×10 + 18.67sINFOobjective_server_node ×10 + 18.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.71sINFOmove_groupClearing octomap...[0m ×2 + 18.71sINFOmove_groupOctomap cleared.[0m ×2 + 18.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 19.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 19.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 20.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 21.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.1s	3 errors · 276 warnings · 254 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.516ms + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550821 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550821 ms (missed cycles : 4).[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 ×6 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.976ms + 1.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.102ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084960 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084960 ms (missed cycles : 2).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.031ms + 2.31sWARNros2_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 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.711ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204443 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204443 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOjoint_trajectory_controllerGot request to cancel goal + 2.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.92sERRORobjective_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: 1788960859.35697675 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.163ms + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416958 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416958 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×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 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788960859.94442344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.927ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.717ms + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484204 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484204 ms (missed cycles : 3).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706971 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706971 ms (missed cycles : 3).[0m ×2 + 5.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309341 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309341 ms (missed cycles : 2).[0m ×2 + 7.59sWARNros2_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 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781545 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781545 ms (missed cycles : 2).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.908ms + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499730 ms (missed cycles : 3). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499730 ms (missed cycles : 3).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.830ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.971ms + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977675 ms (missed cycles : 4). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977675 ms (missed cycles : 4).[0m ×2 + 10.45sINFOamclParticle filter update iteration stats: 3617 particles 723 points - 6.970ms + 11.02sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 5.054ms + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488377 ms (missed cycles : 3). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488377 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 3.332ms + 12.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847484 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847484 ms (missed cycles : 3).[0m ×2 + 12.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024186 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024186 ms (missed cycles : 2).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 13.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716631 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716631 ms (missed cycles : 2).[0m ×2 + 14.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954417 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954417 ms (missed cycles : 3).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 16.36sWARNros2_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 + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207288 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207288 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455587 ms (missed cycles : 4). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455587 ms (missed cycles : 4).[0m ×2 + 18.14sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035740 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035740 ms (missed cycles : 2).[0m ×2 + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595581 ms (missed cycles : 3). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595581 ms (missed cycles : 3).[0m ×2 + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms ×2 + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.167208 ms (missed cycles : 5). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.167208 ms (missed cycles : 5).[0m ×2 + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 21.89sWARNros2_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 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925327 ms (missed cycles : 3). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925327 ms (missed cycles : 3).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748700 ms (missed cycles : 3). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748700 ms (missed cycles : 3).[0m ×2 + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269351 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269351 ms (missed cycles : 2).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483577 ms (missed cycles : 2). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483577 ms (missed cycles : 2).[0m ×2 + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940491 ms (missed cycles : 3). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940491 ms (missed cycles : 3).[0m ×2 + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437900 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437900 ms (missed cycles : 3).[0m ×2 + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725098 ms (missed cycles : 3). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725098 ms (missed cycles : 3).[0m ×2 + 28.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 29.34sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335624 ms (missed cycles : 5). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335624 ms (missed cycles : 5).[0m ×2 + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670699 ms (missed cycles : 2). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670699 ms (missed cycles : 2).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 31.31sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796585 ms (missed cycles : 5). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796585 ms (missed cycles : 5).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326422 ms (missed cycles : 3). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326422 ms (missed cycles : 3).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703339 ms (missed cycles : 2). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703339 ms (missed cycles : 2).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 34.64sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.64sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.90sWARNros2_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 + 35.10sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709677 ms (missed cycles : 5). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709677 ms (missed cycles : 5).[0m ×2 + 35.97sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160580 ms (missed cycles : 5). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160580 ms (missed cycles : 5).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252986 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252986 ms (missed cycles : 2).[0m ×2 + 38.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999609 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999609 ms (missed cycles : 3).[0m ×2 + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 39.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056909 ms (missed cycles : 2). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056909 ms (missed cycles : 2).[0m ×2 + 39.98sWARNros2_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 + 40.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 40.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.060119 ms (missed cycles : 4). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.060119 ms (missed cycles : 4).[0m ×2 + 41.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176269 ms (missed cycles : 4). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176269 ms (missed cycles : 4).[0m ×2 + 42.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212645 ms (missed cycles : 2). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212645 ms (missed cycles : 2).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190822 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190822 ms (missed cycles : 2).[0m ×2 + 44.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 45.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127951 ms (missed cycles : 2). + 45.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127951 ms (missed cycles : 2).[0m ×2 + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919785 ms (missed cycles : 2). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919785 ms (missed cycles : 2).[0m ×2 + 46.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456540 ms (missed cycles : 3). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456540 ms (missed cycles : 3).[0m ×2 + 47.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.058ms + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405911 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405911 ms (missed cycles : 3).[0m ×2 + 49.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714568 ms (missed cycles : 2). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714568 ms (missed cycles : 2).[0m ×2 + 49.59sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 50.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857013 ms (missed cycles : 3). + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857013 ms (missed cycles : 3).[0m ×2 + 51.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605789 ms (missed cycles : 2). + 51.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605789 ms (missed cycles : 2).[0m ×2 + 53.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986100 ms (missed cycles : 3). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986100 ms (missed cycles : 3).[0m ×2 + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081231 ms (missed cycles : 3). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081231 ms (missed cycles : 3).[0m ×2 + 54.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 54.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920893 ms (missed cycles : 3). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920893 ms (missed cycles : 3).[0m ×2 + 55.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 56.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041786 ms (missed cycles : 2). + 56.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041786 ms (missed cycles : 2).[0m ×2 + 56.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312896 ms (missed cycles : 2). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312896 ms (missed cycles : 2).[0m ×2 + 58.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434470 ms (missed cycles : 3). + 58.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434470 ms (missed cycles : 3).[0m ×2 + 58.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 58.64sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 59.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893278 ms (missed cycles : 3). + 59.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893278 ms (missed cycles : 3).[0m ×2 + 60.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318633 ms (missed cycles : 3). + 60.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318633 ms (missed cycles : 3).[0m ×2 + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559092 ms (missed cycles : 3). + 61.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559092 ms (missed cycles : 3).[0m ×2 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645287 ms (missed cycles : 3). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645287 ms (missed cycles : 3).[0m ×2 + 63.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 63.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836354 ms (missed cycles : 3). + 63.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836354 ms (missed cycles : 3).[0m ×2 + 64.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145256 ms (missed cycles : 2). + 64.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145256 ms (missed cycles : 2).[0m ×2 + 65.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 65.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683720 ms (missed cycles : 5). + 65.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683720 ms (missed cycles : 5).[0m ×2 + 65.75sWARNros2_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 + 66.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 66.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260931 ms (missed cycles : 3). + 66.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260931 ms (missed cycles : 3).[0m ×2 + 67.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 67.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517537 ms (missed cycles : 5). + 67.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517537 ms (missed cycles : 5).[0m ×2 + 68.04sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788960924.47469234 seconds ×3 + 68.07sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.07sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.17sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.17sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.57sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788960925.04381824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.505ms + 69.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569183 ms (missed cycles : 2). + 69.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569183 ms (missed cycles : 2).[0m ×2 + 70.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350234 ms (missed cycles : 3). + 70.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350234 ms (missed cycles : 3).[0m ×2 + 71.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151081 ms (missed cycles : 2). + 71.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151081 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	242 warnings · 199 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.27sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.92sINFOobjective_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 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×8 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.62sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226956 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226956 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303855 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303855 ms (missed cycles : 2).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.074ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913742 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913742 ms (missed cycles : 3).[0m ×2 + 9.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.335ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153732 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153732 ms (missed cycles : 2).[0m ×2 + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.050ms + 10.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.730ms + 10.78sWARNros2_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 + 10.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.325ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290318 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290318 ms (missed cycles : 2).[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.931ms + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.205ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144300 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144300 ms (missed cycles : 2).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.826ms + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.977ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379485 ms (missed cycles : 3). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379485 ms (missed cycles : 3).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.528ms + 14.39sWARNros2_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 + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.044ms + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634229 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634229 ms (missed cycles : 3).[0m ×2 + 15.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.751ms + 15.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.515ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798600 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798600 ms (missed cycles : 2).[0m ×2 + 16.25sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 16.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.417ms + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759062 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759062 ms (missed cycles : 3).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 4735 particles 723 points - 8.837ms + 17.54sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 8.688ms + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731132 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731132 ms (missed cycles : 2).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 6.231ms + 18.78sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 3.845ms + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810310 ms (missed cycles : 2). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810310 ms (missed cycles : 2).[0m ×2 + 19.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 3.287ms + 19.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 19.99sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.076ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807095 ms (missed cycles : 3). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807095 ms (missed cycles : 3).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283743 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283743 ms (missed cycles : 2).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 21.77sWARNros2_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 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899255 ms (missed cycles : 5). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899255 ms (missed cycles : 5).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768703 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768703 ms (missed cycles : 2).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841380 ms (missed cycles : 2). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841380 ms (missed cycles : 2).[0m ×2 + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132130 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132130 ms (missed cycles : 2).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391740 ms (missed cycles : 4). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391740 ms (missed cycles : 4).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007180 ms (missed cycles : 4). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007180 ms (missed cycles : 4).[0m ×2 + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614415 ms (missed cycles : 3). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614415 ms (missed cycles : 3).[0m ×2 + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338327 ms (missed cycles : 2). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338327 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079533 ms (missed cycles : 3). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079533 ms (missed cycles : 3).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253292 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253292 ms (missed cycles : 2).[0m ×2 + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.033ms + 32.81sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 32.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387442 ms (missed cycles : 4). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387442 ms (missed cycles : 4).[0m ×2 + 34.03sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810984 ms (missed cycles : 3). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810984 ms (missed cycles : 3).[0m ×2 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347235 ms (missed cycles : 3). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347235 ms (missed cycles : 3).[0m ×2 + 36.07sWARNros2_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 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778641 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778641 ms (missed cycles : 2).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309557 ms (missed cycles : 2). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309557 ms (missed cycles : 2).[0m ×2 + 37.96sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911806 ms (missed cycles : 3). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911806 ms (missed cycles : 3).[0m ×2 + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399829 ms (missed cycles : 5). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399829 ms (missed cycles : 5).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 41.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547247 ms (missed cycles : 2). + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547247 ms (missed cycles : 2).[0m ×2 + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049051 ms (missed cycles : 2). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049051 ms (missed cycles : 2).[0m ×2 + 44.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912185 ms (missed cycles : 5). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912185 ms (missed cycles : 5).[0m ×2 + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789346 ms (missed cycles : 5). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789346 ms (missed cycles : 5).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081699 ms (missed cycles : 2). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081699 ms (missed cycles : 2).[0m ×2 + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987835 ms (missed cycles : 3). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987835 ms (missed cycles : 3).[0m ×2 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071416 ms (missed cycles : 2). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071416 ms (missed cycles : 2).[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140722 ms (missed cycles : 3). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140722 ms (missed cycles : 3).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763941 ms (missed cycles : 3). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763941 ms (missed cycles : 3).[0m ×2 + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609290 ms (missed cycles : 5). + 51.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609290 ms (missed cycles : 5).[0m ×2 + 52.15sWARNros2_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 + 52.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.959ms + 52.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.914067 ms (missed cycles : 5). + 52.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.914067 ms (missed cycles : 5).[0m ×2 + 53.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958857 ms (missed cycles : 3). + 53.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958857 ms (missed cycles : 3).[0m ×2 + 54.61sWARNros2_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 + 54.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035324 ms (missed cycles : 5). + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035324 ms (missed cycles : 5).[0m ×2 + 55.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 55.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405232 ms (missed cycles : 5). + 55.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405232 ms (missed cycles : 5).[0m ×2 + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549061 ms (missed cycles : 4). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549061 ms (missed cycles : 4).[0m ×2 + 57.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422863 ms (missed cycles : 3). + 57.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422863 ms (missed cycles : 3).[0m ×2 + 59.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356964 ms (missed cycles : 2). + 59.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356964 ms (missed cycles : 2).[0m ×2 + 59.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 59.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788960988.29046512 seconds ×3 + 59.80sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.80sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.20sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.20sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.23sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788960988.87722015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748985 ms (missed cycles : 2). + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748985 ms (missed cycles : 2).[0m ×2 + 60.71sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 60.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 61.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746641 ms (missed cycles : 2). + 61.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746641 ms (missed cycles : 2).[0m ×2 + 62.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506730 ms (missed cycles : 3). + 62.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506730 ms (missed cycles : 3).[0m ×2 + 63.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.0s	242 warnings · 211 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595046 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595046 ms (missed cycles : 2).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms ×2 + 1.57sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416526 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416526 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788960700.52373624 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255116 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255116 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788960701.10473180 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 + 3.62sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.934ms + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111953 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111953 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501670 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501670 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.83sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767010 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767010 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772658 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772658 ms (missed cycles : 2).[0m ×2 + 8.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 8.07sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.465ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747746 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747746 ms (missed cycles : 2).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 4.690ms + 9.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.284ms + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972090 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972090 ms (missed cycles : 2).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 10.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293774 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293774 ms (missed cycles : 2).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405784 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405784 ms (missed cycles : 2).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 12.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874225 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874225 ms (missed cycles : 2).[0m ×2 + 13.06sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987857 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987857 ms (missed cycles : 3).[0m ×2 + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 14.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251211 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251211 ms (missed cycles : 2).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071105 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071105 ms (missed cycles : 3).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723728 ms (missed cycles : 5). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723728 ms (missed cycles : 5).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504735 ms (missed cycles : 3). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504735 ms (missed cycles : 3).[0m ×2 + 18.31sWARNros2_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 ×4 + 18.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 18.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409665 ms (missed cycles : 5). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409665 ms (missed cycles : 5).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725298 ms (missed cycles : 5). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725298 ms (missed cycles : 5).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419923 ms (missed cycles : 5). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419923 ms (missed cycles : 5).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566158 ms (missed cycles : 5). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566158 ms (missed cycles : 5).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979575 ms (missed cycles : 3). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979575 ms (missed cycles : 3).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552745 ms (missed cycles : 4). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552745 ms (missed cycles : 4).[0m ×2 + 24.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548041 ms (missed cycles : 3). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548041 ms (missed cycles : 3).[0m ×2 + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022196 ms (missed cycles : 2). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022196 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400913 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400913 ms (missed cycles : 3).[0m ×2 + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 28.76sWARNros2_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 + 28.78sWARNros2_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 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241656 ms (missed cycles : 2). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241656 ms (missed cycles : 2).[0m ×2 + 29.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms ×2 + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423473 ms (missed cycles : 3). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423473 ms (missed cycles : 3).[0m ×2 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764309 ms (missed cycles : 3). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764309 ms (missed cycles : 3).[0m ×2 + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 31.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097167 ms (missed cycles : 3). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097167 ms (missed cycles : 3).[0m ×2 + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618535 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618535 ms (missed cycles : 4).[0m ×2 + 33.80sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 33.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×8 + 33.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 34.25sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332451 ms (missed cycles : 2). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332451 ms (missed cycles : 2).[0m ×2 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803529 ms (missed cycles : 2). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803529 ms (missed cycles : 2).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081320 ms (missed cycles : 3). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081320 ms (missed cycles : 3).[0m ×2 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887410 ms (missed cycles : 2). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887410 ms (missed cycles : 2).[0m ×2 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283813 ms (missed cycles : 2). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283813 ms (missed cycles : 2).[0m ×2 + 39.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243649 ms (missed cycles : 2). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243649 ms (missed cycles : 2).[0m ×2 + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700998 ms (missed cycles : 5). + 40.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700998 ms (missed cycles : 5).[0m ×2 + 41.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857632 ms (missed cycles : 4). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857632 ms (missed cycles : 4).[0m ×2 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279523 ms (missed cycles : 3). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279523 ms (missed cycles : 3).[0m ×2 + 43.89sWARNros2_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 + 43.91sWARNros2_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 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720298 ms (missed cycles : 3). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720298 ms (missed cycles : 3).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160551 ms (missed cycles : 2). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160551 ms (missed cycles : 2).[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680604 ms (missed cycles : 5). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680604 ms (missed cycles : 5).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058336 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058336 ms (missed cycles : 3).[0m ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053133 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053133 ms (missed cycles : 2).[0m ×2 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921125 ms (missed cycles : 3). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921125 ms (missed cycles : 3).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088112 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088112 ms (missed cycles : 2).[0m ×2 + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729354 ms (missed cycles : 3). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729354 ms (missed cycles : 3).[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487526 ms (missed cycles : 3). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487526 ms (missed cycles : 3).[0m ×2 + 53.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709901 ms (missed cycles : 2). + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709901 ms (missed cycles : 2).[0m ×2 + 54.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854676 ms (missed cycles : 3). + 54.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854676 ms (missed cycles : 3).[0m ×2 + 55.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683493 ms (missed cycles : 5). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683493 ms (missed cycles : 5).[0m ×2 + 55.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 56.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2). + 56.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2).[0m ×2 + 57.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2). + 57.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2).[0m ×2 + 58.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4). + 58.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4).[0m ×2 + 59.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 59.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788960757.50484824 seconds ×3 + 59.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2).[0m ×2 + 59.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.14sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788960758.08941674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 60.79sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3).[0m ×2 + 61.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2). + 62.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2).[0m ×2 + 63.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3). + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.1s	245 warnings · 219 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×8 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788960796.33454728 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2).[0m ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.62, 12.77) 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 (-4.52, 12.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.08sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788960796.90569019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.415ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (5.99e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2).[0m ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-2.08, -3.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-1.87, -4.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNros2_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 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.24sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.24sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120559 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120559 ms (missed cycles : 2).[0m ×2 + 7.68sWARNglobal_costmap.global_costmapSensor origin at (-2.14, -3.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.68sWARNglobal_costmap.global_costmapSensor origin at (-1.92, -4.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.14sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070491 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070491 ms (missed cycles : 3).[0m ×2 + 8.68sWARNglobal_costmap.global_costmapSensor origin at (-2.25, -3.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.68sWARNglobal_costmap.global_costmapSensor origin at (-2.03, -4.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.992ms + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636058 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636058 ms (missed cycles : 3).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.375ms + 9.68sWARNglobal_costmap.global_costmapSensor origin at (-2.16, -2.92) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.68sWARNglobal_costmap.global_costmapSensor origin at (-2.25, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.703ms + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017876 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017876 ms (missed cycles : 3).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.684ms + 10.95sWARNros2_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 + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.870ms + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618585 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618585 ms (missed cycles : 3).[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 12.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.385ms + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596164 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596164 ms (missed cycles : 2).[0m ×2 + 12.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.335ms + 13.30sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.247ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372226 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372226 ms (missed cycles : 2).[0m ×2 + 13.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 14.51sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 7.549ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755700 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755700 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 3814 particles 723 points - 8.448ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630974 ms (missed cycles : 4). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630974 ms (missed cycles : 4).[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 5.955ms + 16.35sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 5.569ms + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771433 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771433 ms (missed cycles : 2).[0m ×2 + 16.95sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 3.639ms + 17.56sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.671ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492904 ms (missed cycles : 3). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492904 ms (missed cycles : 3).[0m ×2 + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711144 ms (missed cycles : 4). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711144 ms (missed cycles : 4).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970091 ms (missed cycles : 2). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970091 ms (missed cycles : 2).[0m ×2 + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325805 ms (missed cycles : 4). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325805 ms (missed cycles : 4).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 21.89sWARNros2_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 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996826 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996826 ms (missed cycles : 2).[0m ×2 + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217316 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217316 ms (missed cycles : 2).[0m ×2 + 23.73sWARNros2_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 + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110518 ms (missed cycles : 4). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110518 ms (missed cycles : 4).[0m ×2 + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684739 ms (missed cycles : 2). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684739 ms (missed cycles : 2).[0m ×2 + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968078 ms (missed cycles : 3). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968078 ms (missed cycles : 3).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms ×2 + 27.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.563ms + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981356 ms (missed cycles : 3). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981356 ms (missed cycles : 3).[0m ×2 + 28.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959712 ms (missed cycles : 3). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959712 ms (missed cycles : 3).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 29.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808624 ms (missed cycles : 3). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808624 ms (missed cycles : 3).[0m ×2 + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924189 ms (missed cycles : 4). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924189 ms (missed cycles : 4).[0m ×2 + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724512 ms (missed cycles : 5). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724512 ms (missed cycles : 5).[0m ×2 + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707456 ms (missed cycles : 4). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707456 ms (missed cycles : 4).[0m ×2 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059856 ms (missed cycles : 2). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059856 ms (missed cycles : 2).[0m ×2 + 34.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.39sWARNros2_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 + 34.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.180ms + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402412 ms (missed cycles : 6). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402412 ms (missed cycles : 6).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065114 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065114 ms (missed cycles : 3).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939439 ms (missed cycles : 3). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939439 ms (missed cycles : 3).[0m ×2 + 37.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 37.83sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058906 ms (missed cycles : 4). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058906 ms (missed cycles : 4).[0m ×2 + 38.59sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173006 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173006 ms (missed cycles : 3).[0m ×2 + 39.48sWARNros2_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 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045837 ms (missed cycles : 3). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045837 ms (missed cycles : 3).[0m ×2 + 40.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.648ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.696ms + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904829 ms (missed cycles : 2). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904829 ms (missed cycles : 2).[0m ×2 + 42.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873746 ms (missed cycles : 4). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873746 ms (missed cycles : 4).[0m ×2 + 42.68sWARNros2_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 + 43.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128487 ms (missed cycles : 3). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128487 ms (missed cycles : 3).[0m ×2 + 43.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275380 ms (missed cycles : 5). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275380 ms (missed cycles : 5).[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916015 ms (missed cycles : 4). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916015 ms (missed cycles : 4).[0m ×2 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192907 ms (missed cycles : 3). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192907 ms (missed cycles : 3).[0m ×2 + 47.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778040 ms (missed cycles : 4). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778040 ms (missed cycles : 4).[0m ×2 + 47.81sWARNros2_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 + 47.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 48.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 48.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277818 ms (missed cycles : 4). + 48.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277818 ms (missed cycles : 4).[0m ×2 + 49.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 49.61sWARNros2_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 + 49.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244486 ms (missed cycles : 3). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244486 ms (missed cycles : 3).[0m ×2 + 50.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 50.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269764 ms (missed cycles : 4). + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269764 ms (missed cycles : 4).[0m ×2 + 51.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 51.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379488 ms (missed cycles : 3). + 51.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379488 ms (missed cycles : 3).[0m ×2 + 52.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509876 ms (missed cycles : 3). + 52.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509876 ms (missed cycles : 3).[0m ×2 + 53.39sWARNros2_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 + 53.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 53.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039511 ms (missed cycles : 2). + 53.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039511 ms (missed cycles : 2).[0m ×2 + 54.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 54.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510027 ms (missed cycles : 5). + 54.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510027 ms (missed cycles : 5).[0m ×2 + 55.12sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788960848.47582579 seconds ×3 + 55.17sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 55.25sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.25sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.71sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788960849.06542635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.527ms + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410684 ms (missed cycles : 2). + 55.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410684 ms (missed cycles : 2).[0m ×2 + 56.10sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105006 ms (missed cycles : 3). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105006 ms (missed cycles : 3).[0m ×2 + 58.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773668 ms (missed cycles : 3). + 58.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773668 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	171 warnings · 381 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.16sINFOobjective_server_nodecaller: ×12 + 1.16sINFOobjective_server_nodetype: 0 ×12 + 1.16sINFOobjective_server_nodename: "" ×12 + 1.16sINFOobjective_server_nodeinstance_id: "" ×12 + 1.16sINFOobjective_server_node ×12 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755685 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755685 ms (missed cycles : 2).[0m ×2 + 8.01sWARNros2_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 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544924 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544924 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274259 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274259 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831450 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831450 ms (missed cycles : 3).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536009 ms (missed cycles : 4). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536009 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553731 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553731 ms (missed cycles : 3).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632404 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632404 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.196ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589073 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589073 ms (missed cycles : 3).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381065 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381065 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991802 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991802 ms (missed cycles : 2).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213783 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213783 ms (missed cycles : 2).[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728442 ms (missed cycles : 3). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728442 ms (missed cycles : 3).[0m ×2 + 19.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950403 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950403 ms (missed cycles : 2).[0m ×2 + 20.36sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988199 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988199 ms (missed cycles : 2).[0m ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036923 ms (missed cycles : 2). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036923 ms (missed cycles : 2).[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175279 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175279 ms (missed cycles : 2).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505310 ms (missed cycles : 2). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505310 ms (missed cycles : 2).[0m ×2 + 24.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024006 ms (missed cycles : 4). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024006 ms (missed cycles : 4).[0m ×2 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000780 ms (missed cycles : 3). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000780 ms (missed cycles : 3).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064277 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064277 ms (missed cycles : 3).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725890 ms (missed cycles : 3). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725890 ms (missed cycles : 3).[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783750 ms (missed cycles : 3). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783750 ms (missed cycles : 3).[0m ×2 + 30.05sWARNros2_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 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318632 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318632 ms (missed cycles : 2).[0m ×2 + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755626 ms (missed cycles : 2). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755626 ms (missed cycles : 2).[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823728 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823728 ms (missed cycles : 2).[0m ×2 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229557 ms (missed cycles : 2). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229557 ms (missed cycles : 2).[0m ×2 + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471994 ms (missed cycles : 2). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471994 ms (missed cycles : 2).[0m ×2 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873572 ms (missed cycles : 3). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873572 ms (missed cycles : 3).[0m ×2 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412046 ms (missed cycles : 3). + 37.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412046 ms (missed cycles : 3).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487599 ms (missed cycles : 3). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487599 ms (missed cycles : 3).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208365 ms (missed cycles : 2). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208365 ms (missed cycles : 2).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020489 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020489 ms (missed cycles : 2).[0m ×2 + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319617 ms (missed cycles : 4). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319617 ms (missed cycles : 4).[0m ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602094 ms (missed cycles : 3). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602094 ms (missed cycles : 3).[0m ×2 + 42.56sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.969ms + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4).[0m ×2 + 45.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2). + 45.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2).[0m ×2 + 46.68sINFOjoint_trajectory_controllerGoal reached, success! + 46.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788960694.45690298 seconds ×3 + 46.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3).[0m ×2 + 47.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.26sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788960695.03364086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2).[0m ×2 + 48.32sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 48.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2).[0m ×2 + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	156 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608605 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608605 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 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 2.903907 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903907 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327898 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327898 ms (missed cycles : 2).[0m ×2 + 2.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.09sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788960763.84956598 seconds ×3 + 2.61sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828592 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828592 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788960765.42440772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940324 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940324 ms (missed cycles : 3).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262277 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262277 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830745 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830745 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999134 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999134 ms (missed cycles : 2).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.792ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688177 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688177 ms (missed cycles : 2).[0m ×2 + 9.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.909ms + 9.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.378ms + 10.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 10.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.708ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972093 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972093 ms (missed cycles : 2).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.465ms + 11.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.406ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524322 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524322 ms (missed cycles : 3).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.628ms + 12.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.258ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676184 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676184 ms (missed cycles : 2).[0m ×2 + 13.13sWARNros2_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 + 13.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.413ms + 13.75sINFOamclParticle filter update iteration stats: 3866 particles 723 points - 6.826ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018919 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018919 ms (missed cycles : 3).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 2763 particles 723 points - 5.135ms + 14.83sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 4.183ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256870 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256870 ms (missed cycles : 2).[0m ×2 + 15.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.924ms + 15.90sWARNros2_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 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085922 ms (missed cycles : 4). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085922 ms (missed cycles : 4).[0m ×2 + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403642 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403642 ms (missed cycles : 3).[0m ×2 + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299033 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299033 ms (missed cycles : 2).[0m ×2 + 18.66sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599272 ms (missed cycles : 3). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599272 ms (missed cycles : 3).[0m ×2 + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148436 ms (missed cycles : 3). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148436 ms (missed cycles : 3).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589490 ms (missed cycles : 6). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589490 ms (missed cycles : 6).[0m ×2 + 21.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230194 ms (missed cycles : 2). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230194 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 23.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751795 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751795 ms (missed cycles : 2).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 24.21sWARNros2_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 + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915275 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915275 ms (missed cycles : 2).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832709 ms (missed cycles : 3). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832709 ms (missed cycles : 3).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364115 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364115 ms (missed cycles : 3).[0m ×2 + 27.05sWARNros2_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 + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms ×2 + 27.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569474 ms (missed cycles : 3). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569474 ms (missed cycles : 3).[0m ×2 + 28.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108328 ms (missed cycles : 4). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108328 ms (missed cycles : 4).[0m ×2 + 29.29sWARNros2_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 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105135 ms (missed cycles : 2). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105135 ms (missed cycles : 2).[0m ×2 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603520 ms (missed cycles : 4). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603520 ms (missed cycles : 4).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 32.21sWARNros2_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 + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3).[0m ×2 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3).[0m ×2 + 33.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 34.58sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788960796.33454728 seconds ×3 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2).[0m ×2 + 34.65sWARNlocal_costmap.local_costmapSensor origin at (-3.62, 12.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.65sWARNlocal_costmap.local_costmapSensor origin at (-4.52, 12.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.68sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 34.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 34.75sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.75sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.11sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788960796.90569019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.415ms + 35.53sINFOobjective_server_nodeFound path in 0 iterations (5.99e-07 s). ×2 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2).[0m ×2 + 37.28sWARNglobal_costmap.global_costmapSensor origin at (-2.08, -3.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 37.28sWARNglobal_costmap.global_costmapSensor origin at (-1.87, -4.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 37.53sWARNros2_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 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	104 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549061 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549061 ms (missed cycles : 4).[0m ×2 + 0.87sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422863 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422863 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356964 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356964 ms (missed cycles : 2).[0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788960988.29046512 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.30sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788960988.87722015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748985 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748985 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 4.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746641 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746641 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506730 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506730 ms (missed cycles : 3).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598337 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598337 ms (missed cycles : 3).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108935 ms (missed cycles : 4). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108935 ms (missed cycles : 4).[0m ×2 + 8.40sWARNros2_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 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315213 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315213 ms (missed cycles : 2).[0m ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776169 ms (missed cycles : 4). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776169 ms (missed cycles : 4).[0m ×2 + 9.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 10.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681347 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681347 ms (missed cycles : 2).[0m ×2 + 11.09sINFOobjective_server_nodeFound path in 33 iterations (0.0327249 s). ×2 + 11.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 11.57sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.64sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187249 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187249 ms (missed cycles : 2).[0m ×2 + 12.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.38sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 12.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768355 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768355 ms (missed cycles : 3).[0m ×2 + 13.24sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.60sWARNros2_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 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908354 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908354 ms (missed cycles : 3).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860133 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860133 ms (missed cycles : 4).[0m ×2 + 15.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.172ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968037 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968037 ms (missed cycles : 2).[0m ×2 + 16.42sWARNros2_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 + 16.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.165ms + 16.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.395ms + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831563 ms (missed cycles : 4). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831563 ms (missed cycles : 4).[0m ×2 + 17.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3).[0m ×2 + 18.65sWARNros2_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 + 18.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 19.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788961004.69399571 seconds ×3 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3).[0m ×2 + 19.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788961005.30627155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.87sINFOmove_groupClearing octomap...[0m ×2 + 19.87sINFOmove_groupOctomap cleared.[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.448ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3).[0m ×2 + 20.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788961006.22639275 seconds ×3 + 21.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788961006.79844594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3).[0m ×2 + 21.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788961007.36856914 seconds ×3 + 22.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2). + 22.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	108 errors · 38 warnings · 516 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 1.68sINFOjoint_trajectory_controllerGoal reached, success! + 1.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788961004.69399571 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.24sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.24sINFOobjective_server_nodecaller: ×4 + 2.24sINFOobjective_server_nodetype: 0 ×4 + 2.24sINFOobjective_server_nodename: "" ×4 + 2.24sINFOobjective_server_nodeinstance_id: "" ×4 + 2.24sINFOobjective_server_node ×4 + 2.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788961005.30627155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.448ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788961006.22639275 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788961006.79844594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3).[0m ×2 + 3.93sWARNros2_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 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788961007.36856914 seconds ×3 + 4.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2). + 5.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626106 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626106 ms (missed cycles : 2).[0m ×2 + 6.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414358 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414358 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923209 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923209 ms (missed cycles : 2).[0m ×2 + 9.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109833 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109833 ms (missed cycles : 2).[0m ×2 + 10.36sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.40sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORweb_video_auth_proxy-38process has died [pid 7828, 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 + 10.40sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.41sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge_auth_proxy-37process has died [pid 7811, 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 + 10.41sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.42sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.43sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.44sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.45sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.46sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.47sINFOvideo_server-36process has finished cleanly [pid 7810] ×2 + 10.47sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.48sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.49sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390140 ms (missed cycles : 2). + 10.50sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.51sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.52sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.54sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.55sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.55sINFOcontroller_managerShutdown request received.... + 10.55sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.55sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.55sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.55sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.55sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.55sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.55sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.55sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.55sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.56sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.56sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.56sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.56sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.56sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.56sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.56sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.56sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.56sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.56sINFOcontroller_managerShutting down the controller manager. + 10.56sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.57sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.58sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.58sERRORmove_group-24process has died [pid 7735, 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_atky23x_ --params-file /tmp/launch_params_tnqnnzzq --params-file /tmp/launch_params_tok4er5q --params-file /tmp/launch_params_8exzpuza --params-file /tmp/launch_params_p0xab3xk --params-file /tmp/launch_params_b3byz8sn']. ×2 + 10.59sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.60sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.61sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.62sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.63sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.64sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.73sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.73sINFOmap_serverDeactivating + 10.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.73sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.73sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.73sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.73sINFOcontroller_serverDeactivating + 10.73sINFOlocal_costmap.local_costmapDeactivating + 10.73sINFOvideo_server2026/09/09 13:36:53 INF shutting down gracefully ×2 + 10.74sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOvideo_server2026/09/09 13:36:53 INF [WebRTC] closing ×2 + 10.74sINFOvideo_server2026/09/09 13:36:53 INF [RTSP] closing ×2 + 10.74sINFOvideo_server2026/09/09 13:36:53 INF waiting for running hooks ×2 + 10.74sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.74sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390140 ms (missed cycles : 2).[0m ×2 + 10.74sINFOmap_serverCleaning up + 10.74sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.74sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.74sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.74sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.74sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.74sERRORmove_groupStack trace (most recent call last) in thread 8408: ×2 + 10.74sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.74sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f43ba747a63, in __clone ×2 + 10.74sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f43ba6baaa3, in ×2 + 10.74sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f43ba94cdb3, in ×2 + 10.74sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f43bb0b1a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.74sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f43bacde620, in rclcpp::Rate::sleep() ×2 + 10.74sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f43bac20d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.74sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f43babe2087, in ×2 + 10.74sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f43ba91b390, in __cxa_throw ×2 + 10.74sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f43ba905a54, in std::terminate() ×2 + 10.74sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f43ba91b0d9, in ×2 + 10.74sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f43ba905ff4, in ×2 + 10.74sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f43ba6468fe, in abort ×2 + 10.74sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f43ba66327d, in raise ×2 + 10.74sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f43ba6bcb2c, in pthread_kill ×2 + 10.74sERRORmove_groupAborted (Signal sent by tkill() 7735 0) ×2 + 10.74sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.74sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.74sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.74sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.74sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.75sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.75sINFOodom_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 + 10.75sINFOodom_qos_relay.pymain() ×2 + 10.75sINFOodom_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 + 10.75sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.75sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.75sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.75sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.75sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.75sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.75sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.75sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.75sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.75sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.76sERRORamclThe bond connection to the lifecycle manager has been broken + 10.81sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.82sINFOcontroller_serverCleaning up + 10.82sINFOlocal_costmap.local_costmapCleaning up + 10.87sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.87sINFOsmoother_serverDeactivating + 10.87sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.88sINFOsmoother_serverCleaning up + 10.90sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.90sINFOplanner_serverDeactivating + 10.90sINFOglobal_costmap.global_costmapDeactivating + 10.90sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.90sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.90sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.90sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.90sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.90sINFOvelocity_smootherDeactivating + 10.90sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.01sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.01sINFOwaypoint_followerDeactivating + 11.01sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.04sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.04sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.05sINFOplanner_serverCleaning up + 11.07sINFOglobal_costmap.global_costmapCleaning up + 11.08sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.08sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.11sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.11sINFObehavior_serverDeactivating + 11.11sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.12sINFObehavior_serverCleaning up + 11.12sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.12sINFObt_navigatorDeactivating + 11.12sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.12sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.12sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.12sINFOwaypoint_followerCleaning up + 11.14sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.14sINFOvelocity_smootherCleaning up + 11.14sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.24sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.24sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.24sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.24sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.24sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.24sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.26sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.26sINFObt_navigatorCleaning up + 11.44sINFObt_navigatorCompleted Cleaning up + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.44sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.45sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.45sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.45sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.48sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7809] ×2 + 11.48sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.57sINFOui_teleop_bridge-33process has finished cleanly [pid 7791] ×2 + 11.57sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7781] ×2 + 11.57sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7783] ×2 + 11.57sINFOexecute_objective_bridge-32process has finished cleanly [pid 7789] ×2 + 11.59sINFOcomponent_container_mt-31process has finished cleanly [pid 7788] ×2 + 11.60sINFOparameter_manager_node-25process has finished cleanly [pid 7769] ×2 + 11.61sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7705] ×2 + 11.62sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7704] ×2 + 11.62sINFOwaypoint_manager_node-26process has finished cleanly [pid 7774] ×2 + 11.63sINFOstatic_transform_publisher-9process has finished cleanly [pid 7622] ×2 + 11.64sINFOstatic_transform_publisher-8process has finished cleanly [pid 7621] ×2 + 11.65sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.65sINFOlidar_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 + 11.65sINFOlidar_flattener.pymain() ×2 + 11.65sINFOlidar_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 + 11.65sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.65sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.65sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.65sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.65sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.65sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.65sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.65sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.65sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.68sINFOstatic_transform_publisher-4process has finished cleanly [pid 7617] ×2 + 11.69sINFOstatic_transform_publisher-3process has finished cleanly [pid 7616] ×2 + 11.70sERRORlidar_flattener.py-7process has died [pid 7620, 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_6550tp66']. ×2 + 11.72sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7619] ×2 + 11.72sERRORodom_qos_relay.py-5process has died [pid 7618, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.74sINFOobjective_server_node[2026-09-09 13:36:54.729] [moveit_pro_license] [critical] ×2 + 11.74sINFOobjective_server_node************************************************* ×4 + 11.74sINFOobjective_server_node* MoveIt Pro License ×2 + 11.74sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.75sERRORcomponent_container_isolated-1process has died [pid 7614, 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_a8jgjmbf --params-file /tmp/launch_params_z9_n14q1 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.81sINFOobjective_server_node_main-29process has finished cleanly [pid 7784] ×2 + 11.81sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.67sINFOcomponent_container_mt-30process has finished cleanly [pid 7785] ×2 + 13.10sERRORcomponent_container_isolated-2process has died [pid 7615, 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_a8jgjmbf --params-file /tmp/launch_params_b7jyyeni -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.24sINFOros2_control_node-12process has finished cleanly [pid 7706] ×2 + 13.53sINFOweb_bridge-34process has finished cleanly [pid 7808] ×2 + 13.53sINFOlaunchprocess[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 · 82 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509876 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509876 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_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 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039511 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039511 ms (missed cycles : 2).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510027 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510027 ms (missed cycles : 5).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788960848.47582579 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788960849.06542635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.527ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410684 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410684 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105006 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105006 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773668 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773668 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475022 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475022 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793157 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793157 ms (missed cycles : 2).[0m ×2 + 7.41sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.116ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983700 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983700 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.245ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113225 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113225 ms (missed cycles : 2).[0m ×2 + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.364ms + 10.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.516ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550821 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550821 ms (missed cycles : 4).[0m ×2 + 10.78sWARNros2_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 + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.976ms + 11.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.102ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084960 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084960 ms (missed cycles : 2).[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.031ms + 12.54sWARNros2_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 + 12.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.711ms + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204443 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204443 ms (missed cycles : 3).[0m ×2 + 13.11sINFOobjective_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 + 13.11sINFOjoint_trajectory_controllerGot request to cancel goal + 13.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.16sERRORobjective_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: 1788960859.35697675 seconds ×3 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.163ms + 13.30sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.30sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416958 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416958 ms (missed cycles : 3).[0m ×2 + 13.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788960859.94442344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.927ms + 14.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 14.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.717ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484204 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484204 ms (missed cycles : 3).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706971 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706971 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	68 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_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 + 2.35sWARNros2_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 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788960757.50484824 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788960758.08941674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608605 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608605 ms (missed cycles : 2).[0m ×2 + 7.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903907 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903907 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327898 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327898 ms (missed cycles : 2).[0m ×2 + 9.50sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788960763.84956598 seconds ×3 + 10.02sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828592 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828592 ms (missed cycles : 2).[0m ×2 + 11.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.04sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.07sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788960765.42440772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.46sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940324 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940324 ms (missed cycles : 3).[0m ×2 + 12.73sWARNros2_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 + 13.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262277 ms (missed cycles : 4). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262277 ms (missed cycles : 4).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	62 warnings · 138 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683720 ms (missed cycles : 5). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683720 ms (missed cycles : 5).[0m ×2 + 0.64sWARNros2_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 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260931 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260931 ms (missed cycles : 3).[0m ×2 + 2.45sWARNros2_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 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517537 ms (missed cycles : 5). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517537 ms (missed cycles : 5).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788960924.47469234 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×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 + 3.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788960925.04381824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.505ms + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569183 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569183 ms (missed cycles : 2).[0m ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350234 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350234 ms (missed cycles : 3).[0m ×2 + 5.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151081 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151081 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 7.63sWARNros2_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 ×4 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 9.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 9.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 11.03sWARNros2_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 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	45 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.02sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788960694.45690298 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788960695.03364086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2).[0m ×2 + 6.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595046 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595046 ms (missed cycles : 2).[0m ×2 + 7.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 7.83sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 8.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416526 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416526 ms (missed cycles : 2).[0m ×2 + 9.12sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788960700.52373624 seconds ×3 + 9.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255116 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255116 ms (missed cycles : 2).[0m ×2 + 9.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.66sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788960701.10473180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.89sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.934ms + 10.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111953 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111953 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501670 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501670 ms (missed cycles : 2).[0m ×2 + 12.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767010 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767010 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.5s	32 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968037 ms (missed cycles : 2).[0m ×2 + 0.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.165ms + 0.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.395ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831563 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831563 ms (missed cycles : 4).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3).[0m ×2 + 2.50sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788961004.69399571 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788961005.30627155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.448ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788961006.22639275 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788961006.79844594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3).[0m ×2 + 5.33sWARNros2_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 + 5.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788961007.36856914 seconds ×3 + 6.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2). + 6.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626106 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626106 ms (missed cycles : 2).[0m ×2 + 8.04sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	23 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788960694.45690298 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788960695.03364086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOjoint_trajectory_controllerReceived new action goal + 4.76sINFOjoint_trajectory_controllerAccepted new action goal + 4.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	23 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795476 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054322 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305380 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788960694.45690298 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558489 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788960695.03364086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205625 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOjoint_trajectory_controllerReceived new action goal + 4.76sINFOjoint_trajectory_controllerAccepted new action goal + 4.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624807 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.10sINFOobjective_server_nodecaller: ×10 + 3.10sINFOobjective_server_nodetype: 0 ×10 + 3.10sINFOobjective_server_nodename: "" ×10 + 3.10sINFOobjective_server_nodeinstance_id: "" ×10 + 3.10sINFOobjective_server_node ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 4.95sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	25 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911436 ms (missed cycles : 2).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595046 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595046 ms (missed cycles : 2).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 1.57sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416526 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416526 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788960700.52373624 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255116 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255116 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788960701.10473180 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 ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.934ms + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111953 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111953 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501670 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501670 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767010 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767010 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_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 + 2.35sWARNros2_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 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788960757.50484824 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788960758.08941674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_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 + 2.35sWARNros2_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 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788960757.50484824 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788960758.08941674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_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 + 2.35sWARNros2_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 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788960757.50484824 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788960758.08941674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_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 + 2.35sWARNros2_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 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788960757.50484824 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788960758.08941674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971136 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589330 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655477 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_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 + 2.35sWARNros2_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 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788960757.50484824 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836425 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788960758.08941674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819882 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775812 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341300 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	42 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 0.61sWARNros2_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 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788960796.33454728 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2).[0m ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.62, 12.77) 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 (-4.52, 12.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.08sWARNros2_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 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788960796.90569019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.415ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (5.99e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2).[0m ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-2.08, -3.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-1.87, -4.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNros2_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 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	42 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 0.61sWARNros2_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 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788960796.33454728 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2).[0m ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.62, 12.77) 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 (-4.52, 12.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.08sWARNros2_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 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788960796.90569019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.415ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (5.99e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2).[0m ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-2.08, -3.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-1.87, -4.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNros2_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 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	42 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 0.61sWARNros2_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 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188193 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924244 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788960796.33454728 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156905 ms (missed cycles : 2).[0m ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.62, 12.77) 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 (-4.52, 12.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.08sWARNros2_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 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788960796.90569019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.415ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (5.99e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498411 ms (missed cycles : 3).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226427 ms (missed cycles : 2).[0m ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-2.08, -3.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.68sWARNglobal_costmap.global_costmapSensor origin at (-1.87, -4.60) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.93sWARNros2_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 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224275 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.10sINFOobjective_server_nodecaller: ×10 + 3.10sINFOobjective_server_nodetype: 0 ×10 + 3.10sINFOobjective_server_nodename: "" ×10 + 3.10sINFOobjective_server_nodeinstance_id: "" ×10 + 3.10sINFOobjective_server_node ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 4.95sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.10sINFOobjective_server_nodecaller: ×10 + 3.10sINFOobjective_server_nodetype: 0 ×10 + 3.10sINFOobjective_server_nodename: "" ×10 + 3.10sINFOobjective_server_nodeinstance_id: "" ×10 + 3.10sINFOobjective_server_node ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 4.95sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499174 ms (missed cycles : 5).[0m ×2 + 0.57sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717759 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438168 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788960930.92395806 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788960931.50033450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869428 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 3.97sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687380 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	27 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968037 ms (missed cycles : 2).[0m ×2 + 0.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.165ms + 0.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.395ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831563 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831563 ms (missed cycles : 4).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594230 ms (missed cycles : 3).[0m ×2 + 2.50sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788961004.69399571 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453522 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788961005.30627155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.448ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203915 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788961006.22639275 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788961006.79844594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359910 ms (missed cycles : 3).[0m ×2 + 5.33sWARNros2_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 + 5.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788961007.36856914 seconds ×3 + 6.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2). + 6.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793137 ms (missed cycles : 2).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 0.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.90sINFOobjective_server_nodecaller: ×10 + 1.90sINFOobjective_server_nodetype: 0 ×10 + 1.90sINFOobjective_server_nodename: "" ×10 + 1.90sINFOobjective_server_nodeinstance_id: "" ×10 + 1.90sINFOobjective_server_node ×10 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.75sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 4.33sWARNros2_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 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	27 warnings · 309 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.10sINFOobjective_server_nodecaller: ×10 + 3.10sINFOobjective_server_nodetype: 0 ×10 + 3.10sINFOobjective_server_nodename: "" ×10 + 3.10sINFOobjective_server_nodeinstance_id: "" ×10 + 3.10sINFOobjective_server_node ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 4.95sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 7.05sINFOjoint_trajectory_controllerReceived new action goal + 7.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.05sINFOjoint_trajectory_controllerAccepted new action goal + 7.05sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	26 warnings · 303 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.66sINFOobjective_server_nodecaller: ×10 + 3.66sINFOobjective_server_nodetype: 0 ×10 + 3.66sINFOobjective_server_nodename: "" ×10 + 3.66sINFOobjective_server_nodeinstance_id: "" ×10 + 3.66sINFOobjective_server_node ×10 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	26 warnings · 300 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.66sINFOobjective_server_nodecaller: ×10 + 3.66sINFOobjective_server_nodetype: 0 ×10 + 3.66sINFOobjective_server_nodename: "" ×10 + 3.66sINFOobjective_server_nodeinstance_id: "" ×10 + 3.66sINFOobjective_server_node ×10 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.10sINFOobjective_server_nodecaller: ×10 + 3.10sINFOobjective_server_nodetype: 0 ×10 + 3.10sINFOobjective_server_nodename: "" ×10 + 3.10sINFOobjective_server_nodeinstance_id: "" ×10 + 3.10sINFOobjective_server_node ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 4.95sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.10sINFOobjective_server_nodecaller: ×10 + 3.10sINFOobjective_server_nodetype: 0 ×10 + 3.10sINFOobjective_server_nodename: "" ×10 + 3.10sINFOobjective_server_nodeinstance_id: "" ×10 + 3.10sINFOobjective_server_node ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 4.95sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261823 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.10sINFOobjective_server_nodecaller: ×10 + 3.10sINFOobjective_server_nodetype: 0 ×10 + 3.10sINFOobjective_server_nodename: "" ×10 + 3.10sINFOobjective_server_nodeinstance_id: "" ×10 + 3.10sINFOobjective_server_node ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 4.95sWARNros2_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 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440339 ms (missed cycles : 3).[0m ×2 + 0.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.90sINFOobjective_server_nodecaller: ×10 + 1.90sINFOobjective_server_nodetype: 0 ×10 + 1.90sINFOobjective_server_nodename: "" ×10 + 1.90sINFOobjective_server_nodeinstance_id: "" ×10 + 1.90sINFOobjective_server_node ×10 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.75sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 4.33sWARNros2_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 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeAccepted new action goal[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2

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

14 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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2

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

3 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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2
− skipped	—	collect_calibration_samples.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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2

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

3 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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[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 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175371 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788960648.93489933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.20sINFOmove_groupClearing octomap...[0m ×2 + 1.20sINFOmove_groupOctomap cleared.[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788960648.94520307 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788960649.52276206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788960649.53287721 seconds ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280699 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788960650.10646963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788960650.25726032 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576417 ms (missed cycles : 3).[0m ×2 + 3.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788960650.85344839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788960650.91357303 seconds ×3 + 3.59sWARNros2_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 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788960651.48728466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712763 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615849 ms (missed cycles : 4).[0m ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315312 ms (missed cycles : 4).[0m ×2