75
Total objective tests
18
Objectives passed
0
Objectives failed
57
Objectives skipped
21.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.1s | 12 errors · 321 warnings · 1517 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-10-01-20-12-168477-d0e93a3ce297-7667 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 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' + 4.30sINFOstatic_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' + 4.30sINFOstatic_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' + 4.30sINFOstatic_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' + 4.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.55sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.55sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.56sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 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. + 4.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707337 ms (missed cycles : 2). + 4.62sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.63sINFOros2_control_node-12process started with pid [7809] ×2 + 4.63sINFOcontroller_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. + 4.63sINFOmove_group-24process started with pid [7823] ×2 + 4.63sINFOparameter_manager_node-25process started with pid [7872] ×2 + 4.63sINFOwaypoint_manager_node-26process started with pid [7873] ×2 + 4.63sINFOmove_joint_resampler_node-27process started with pid [7874] ×2 + 4.63sINFOmove_end_effector_resampler_node-28process started with pid [7875] ×2 + 4.63sINFOobjective_server_node_main-29process started with pid [7876] ×2 + 4.63sINFOcomponent_container_mt-30process started with pid [7877] ×2 + 4.63sINFOcomponent_container_mt-31process started with pid [7878] ×2 + 4.64sINFOexecute_objective_bridge-32process started with pid [7881] ×2 + 4.64sINFOui_teleop_bridge-33process started with pid [7882] ×2 + 4.64sINFOweb_bridge-34process started with pid [7903] ×2 + 4.64sINFOtf2_web_republisher_node-35process started with pid [7904] ×2 + 4.64sINFOvideo_server-36process started with pid [7906] ×2 + 4.64sINFOweb_bridge_auth_proxy-37process started with pid [7918] ×2 + 4.64sINFOweb_video_auth_proxy-38process started with pid [7919] ×2 + 4.67sINFOcomponent_container_isolated-1process started with pid [7717] ×2 + 4.67sINFOcomponent_container_isolated-2process started with pid [7718] ×2 + 4.67sINFOstatic_transform_publisher-3process started with pid [7719] ×2 + 4.67sINFOstatic_transform_publisher-4process started with pid [7720] ×2 + 4.67sINFOodom_qos_relay.py-5process started with pid [7721] ×2 + 4.67sINFOforward_stereo_publisher.py-6process started with pid [7722] ×2 + 4.67sINFOlidar_flattener.py-7process started with pid [7723] ×2 + 4.67sINFOstatic_transform_publisher-8process started with pid [7724] ×2 + 4.67sINFOstatic_transform_publisher-9process started with pid [7725] ×2 + 4.67sINFOscan_to_scan_filter_chain-10process started with pid [7807] ×2 + 4.67sINFOscan_to_scan_filter_chain-11process started with pid [7808] ×2 + 4.67sINFOros2-13process started with pid [7810] ×2 + 4.67sINFOros2-14process started with pid [7813] ×2 + 4.67sINFOros2-15process started with pid [7814] ×2 + 4.67sINFOros2-16process started with pid [7815] ×2 + 4.67sINFOros2-17process started with pid [7816] ×2 + 4.67sINFOros2-18process started with pid [7817] ×2 + 4.67sINFOros2-19process started with pid [7818] ×2 + 4.67sINFOros2-20process started with pid [7819] ×2 + 4.67sINFOros2-21process started with pid [7820] ×2 + 4.67sINFOros2-22process started with pid [7821] ×2 + 4.67sINFOros2-23process started with pid [7822] ×2 + 4.71sINFOcontroller_serverCreating controller server + 4.71sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.71sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.71sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.71sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.71sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.72sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.72sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.72sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.72sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.72sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.72sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.72sWARNros2_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 + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707337 ms (missed cycles : 2).[0m ×2 + 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 + 4.78sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.78sINFOmap_serverCreating + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.79sINFOlocal_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. + 4.80sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.82sINFOlocal_costmap.local_costmapCreating Costmap + 4.83sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.84sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.84sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.94sINFOsmoother_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. + 4.94sINFOrobot_state_publisherRobot initialized + 4.94sINFOcontroller_managerReceived robot description from topic. + 4.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.95sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.96sINFOsmoother_serverCreating smoother server + 4.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.96sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.96sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.96sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.99sINFOlifecycle_manager_localizationCreating + 4.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.99sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.00sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.01sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.01sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.02sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.02sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.02sINFOmap_serverConfiguring + 5.03sINFOplanner_serverCreating + 5.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.09sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.10sINFOglobal_costmap.global_costmapCreating Costmap + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.11sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.11sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.13sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.13sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.16sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.16sINFOamclConfiguring + 5.16sINFObehavior_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. + 5.17sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.17sINFOmap_serverActivating + 5.17sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.18sINFOvideo_server2026/09/10 01:20:19 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.18sINFOvideo_server2026/09/10 01:20:19 INF configuration loaded from /tmp/moveit-webrtc-7l2o7wlj/mediamtx.yml ×2 + 5.18sINFOvideo_server2026/09/10 01:20:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.18sINFOvideo_server2026/09/10 01:20:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.25sINFObt_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. + 5.27sINFObt_navigatorCreating + 5.28sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.28sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.29sINFOamclActivating + 5.29sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.29sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.29sINFOamclSubscribed to map_topic: /map + 5.29sINFOamclSubscribed to scan_topic: /scan_merged + 5.29sINFOamclCreated reinitialize_global_localization service + 5.29sINFOamclCreated request_nomotion_update service + 5.29sINFOamclA new map was received + 5.29sINFOamclInitializing particle filter instance + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.35sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.36sINFOwaypoint_followerCreating + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.42sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.46sWARNlaser_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. + 5.46sWARNscan_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 + 5.46sINFOlifecycle_manager_navigationCreating + 5.47sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.48sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.48sWARNlaser_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. + 5.50sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.50sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.51sINFOcontroller_serverConfiguring controller interface + 5.51sINFOcontroller_servergetting progress checker plugins.. + 5.51sINFOcontroller_servergetting goal checker plugins.. + 5.51sINFOcontroller_serverController frequency set to 20.0000Hz + 5.51sINFOlocal_costmap.local_costmapConfiguring + 5.53sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.55sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.56sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.56sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.56sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.59sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.59sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.59sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.61sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.61sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.64sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.479344 seconds + 5.64sINFOmove_groupLoaded robot model in 0.479344 seconds[0m ×2 + 5.66sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.66sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.66sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.66sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.67sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.67sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.68sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.70sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.71sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.72sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.72sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.74sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.76sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.77sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.77sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.77sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.77sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.77sINFOcontroller_serverOptimizer reset ×2 + 5.79sINFOcontroller_serverController Server has FollowPath controllers available. + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950534 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950534 ms (missed cycles : 4).[0m ×2 + 5.84sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.84sINFOsmoother_serverConfiguring smoother server + 5.84sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.85sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.85sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.85sINFOplanner_serverConfiguring + 5.85sINFOglobal_costmap.global_costmapConfiguring + 5.86sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.87sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.87sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.87sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.87sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.90sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.90sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.90sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.95sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.95sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.95sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.95sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.95sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.95sINFOplanner_serverPlanner Server has GridBased planners available. + 6.00sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.00sINFObehavior_serverConfiguring + 6.00sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.02sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.03sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.04sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.04sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.05sINFObehavior_serverConfiguring spin + 6.09sINFObehavior_serverConfiguring backup + 6.10sINFObehavior_serverConfiguring drive_on_heading + 6.11sINFObehavior_serverConfiguring assisted_teleop + 6.14sINFObehavior_serverConfiguring wait + 6.14sINFOamclParticle filter initialization completed + 6.14sINFOamclInitializing particles from estimated pose and covariance + 6.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.15sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.16sINFObt_navigatorConfiguring + 6.16sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.17sWARNbt_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 + 6.19sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.19sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.19sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.25sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.32sINFOwaypoint_manager_nodeLoaded robot model in 0.434188 seconds[0m ×2 + 6.32sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.32sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.33sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.40sINFOwaypoint_followerConfiguring + 6.44sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.44sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.44sINFOvelocity_smootherConfiguring velocity smoother + 6.46sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.46sINFOcontroller_serverActivating + 6.46sINFOlocal_costmap.local_costmapActivating + 6.46sINFOlocal_costmap.local_costmapChecking transform + 6.46sINFOlocal_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 + 6.51sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.52sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.52sWARNmove_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. + 6.52sWARNmove_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 + 6.52sWARNmove_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. + 6.52sWARNmove_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. + 6.52sWARNmove_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 + 6.52sWARNmove_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 + 6.52sWARNmove_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. + 6.52sWARNmove_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. + 6.52sWARNmove_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 + 6.52sWARNmove_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. + 6.52sWARNmove_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. + 6.52sWARNmove_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 + 6.52sWARNmove_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 + 6.52sWARNmove_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 + 6.70sWARNwaypoint_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. + 6.70sWARNwaypoint_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. + 6.70sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.71sWARNwaypoint_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 + 6.71sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.80sINFOmove_group[2026-09-10 01:20:20.691] [moveit_pro_license] [info] ×2 + 6.80sINFOmove_group************************************************* ×4 + 6.80sINFOmove_group* MoveIt Pro License ×2 + 6.80sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.82sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.82sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.82sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.85sINFOros2_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 + 6.85sINFOros2_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 + 6.89sINFOwaypoint_manager_node[2026-09-10 01:20:20.784] [moveit_pro_license] [info] ×2 + 6.89sINFOwaypoint_manager_node************************************************* ×4 + 6.89sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.89sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812657 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812657 ms (missed cycles : 2).[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.26sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.26sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 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. + 7.27sINFOmove_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' + 7.27sINFOmove_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 + 7.38sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.39sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.39sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.66sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.66sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.66sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.66sWARNros2_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 + 7.66sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.66sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.66sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.66sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.66sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.66sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.66sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.66sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.66sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.66sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.66sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.66sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.71sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.71sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 7.71sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.71sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 7.72sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 7.72sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 7.77sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 7.77sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 7.77sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 7.77sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 7.77sINFOplatform_velocity_controllerconfigure successful + 7.77sINFOros2_control_nodeconfigure successful[0m ×6 + 7.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 7.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 7.78sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.78sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 7.78sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 7.93sINFOobjective_server_node[2026-09-10 01:20:21.822] [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 + 7.94sINFOros2_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 + 7.94sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.94sWARNros2_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 + 8.00sINFOobjective_server_nodeLoaded robot model in 0.0284643 seconds[0m ×2 + 8.00sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.00sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625893 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625893 ms (missed cycles : 2).[0m ×2 + 8.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 8.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 8.16sINFOros2-16process has finished cleanly [pid 7815] ×2 + 8.19sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.20sINFOforce_torque_sensor_broadcasterconfigure successful + 8.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.32sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.35sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.35sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.35sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.35sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.35sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.35sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.35sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.35sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.35sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.35sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.35sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.36sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.36sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.50sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.51sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.51sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.51sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.51sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.52sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 8.52sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 8.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.53sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.54sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.54sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.57sINFOros2-13process has finished cleanly [pid 7810] ×2 + 8.58sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.58sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.61sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.63sINFOstreaming_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) + 8.63sINFOcomponent_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 + 8.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.63sINFOobjective_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 + 8.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.65sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.73sWARNcomponent_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 + 8.79sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.79sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.90sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 8.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.90sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 8.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 8.90sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 8.91sINFOros2-15process has finished cleanly [pid 7814] ×2 + 8.96sINFOlocal_costmap.local_costmapstart + 8.97sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 8.97sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 8.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 8.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 8.98sINFOplatform_velocity_controller_nav2configure successful + 9.06sWARNcontroller_serverParameter controller_server.verbose not found + 9.06sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.17sINFOcomponent_container_mtLoaded robot model in 0.442048 seconds[0m ×2 + 9.17sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.17sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.17sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.17sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.17sINFOsmoother_serverActivating + 9.17sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.20sINFOmove_groupMoveGroup debug mode is ON + 9.20sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720184 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720184 ms (missed cycles : 2).[0m ×2 + 9.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.28sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.28sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.28sINFOplanner_serverActivating + 9.28sINFOglobal_costmap.global_costmapActivating + 9.28sINFOglobal_costmap.global_costmapChecking transform + 9.28sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 9.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.33sINFOros2-18process has finished cleanly [pid 7817] ×2 + 9.37sINFOmove_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
********************************************************
+ 9.37sINFOmove_group ×8 + 9.37sINFOmove_group******************************************************** ×4 + 9.37sINFOmove_group* MoveGroup using: ×2 + 9.37sINFOmove_group* - apply_planning_scene_service ×2 + 9.37sINFOmove_group* - clear_octomap_service ×2 + 9.37sINFOmove_group* - get_group_urdf ×2 + 9.37sINFOmove_group* - load_geometry_from_file ×2 + 9.37sINFOmove_group* - get_planning_scene_service ×2 + 9.37sINFOmove_group* - kinematics_service ×2 + 9.37sINFOmove_group* - save_geometry_to_file ×2 + 9.37sINFOmove_group* - GetPlanningGroups ×2 + 9.37sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.37sINFOmove_group[0m ×2 + 9.37sINFOmove_group[92mYou can start planning now![0m ×2 + 9.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 9.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 9.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.59sWARNplanning_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. + 9.59sWARNplanning_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. + 9.59sWARNplanning_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. + 9.59sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNcomponent_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 + 9.60sWARNplanning_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. + 9.60sWARNplanning_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. + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNplanning_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. + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNplanning_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. + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNcomponent_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 + 9.60sWARNplanning_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. + 9.61sWARNplanning_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. + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNplanning_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. + 9.61sWARNcomponent_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 + 9.61sWARNplanning_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. + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNplanning_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. + 9.61sWARNplanning_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. + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNplanning_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. + 9.61sWARNcomponent_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 + 9.61sWARNplanning_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. + 9.61sWARNcomponent_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 + 9.83sWARNros2_control_nodeCamera render tick took 1.05 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.86sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.86sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.87sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.87sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 5.395ms + 9.91sINFOcomponent_container_mt[2026-09-10 01:20:23.799] [moveit_pro_license] [info] ×2 + 9.91sINFOcomponent_container_mt************************************************* ×4 + 9.91sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.91sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.91sINFOros2_control_node[2026-09-10 01:20:23.806] [info] Controller state will be published at 20 Hz. ×2 + 9.92sINFOros2_control_node[2026-09-10 01:20:23.808] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.26sINFOros2-22process has finished cleanly [pid 7821] ×2 + 10.27sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.27sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.27sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.27sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.27sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.27sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 10.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 10.28sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.28sINFOglobal_costmap.global_costmapstart + 10.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767933 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767933 ms (missed cycles : 3).[0m ×2 + 10.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.34sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.34sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.34sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.34sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.34sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.35sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.35sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 10.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 10.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 10.70sINFOros2-17process has finished cleanly [pid 7816] ×2 + 10.76sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.76sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.76sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.76sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.76sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.76sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.76sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.76sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.76sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.76sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.76sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.77sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.77sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.77sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.89sWARNobjective_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 + 10.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.08sINFOros2-19process has finished cleanly [pid 7818] ×2 + 11.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 11.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 11.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.33sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.33sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758815 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758815 ms (missed cycles : 3).[0m ×2 + 11.44sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.44sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.44sINFObehavior_serverActivating + 11.44sINFObehavior_serverActivating spin + 11.44sINFObehavior_serverActivating backup + 11.44sINFObehavior_serverActivating drive_on_heading + 11.44sINFObehavior_serverActivating assisted_teleop + 11.44sINFObehavior_serverActivating wait + 11.44sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.54sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.54sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.54sINFObt_navigatorActivating + 11.57sINFOros2_control_node[2026-09-10 01:20:25.466] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.58sINFOros2_control_node[2026-09-10 01:20:25.469] [info] Controller state will be published at 10 Hz. ×2 + 11.58sINFOros2_control_node[2026-09-10 01:20:25.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.61sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.71sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.71sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.71sINFOwaypoint_followerActivating + 11.71sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.82sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.82sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.82sINFOvelocity_smootherActivating + 11.82sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.89sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.89sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.90sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.90sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 11.90sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.90sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 11.93sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.93sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.93sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.94sINFOros2-20process has finished cleanly [pid 7819] ×2 + 11.95sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.95sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.95sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.95sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.35sINFOros2_control_node[2026-09-10 01:20:26.238] [info] Controller state will be published at 20 Hz. ×2 + 12.35sINFOros2_control_node[2026-09-10 01:20:26.239] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034566 ms (missed cycles : 3). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034566 ms (missed cycles : 3).[0m ×2 + 12.68sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.68sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.68sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.68sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 12.68sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.68sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 12.70sINFOros2-23process has finished cleanly [pid 7822] ×2 + 12.75sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.75sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.17sINFOros2_control_node[2026-09-10 01:20:27.059] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.17sINFOros2_control_node[2026-09-10 01:20:27.061] [info] Controller state will be published at 10 Hz. ×2 + 13.17sINFOros2_control_node[2026-09-10 01:20:27.062] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865363 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865363 ms (missed cycles : 3).[0m ×2 + 13.49sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.49sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.49sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.49sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.50sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq + 13.50sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qdsl90u3 --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_5r6n6too --params-file /tmp/launch_params_1qc_w9dq [0m ×2 + 13.53sINFOros2-21process has finished cleanly [pid 7820] ×2 + 13.54sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 13.54sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 13.55sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.55sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.55sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.55sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.56sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 13.56sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.87sINFOros2-14process has finished cleanly [pid 7813] ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747662 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747662 ms (missed cycles : 3).[0m ×2 + 15.22sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388564 ms (missed cycles : 2). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388564 ms (missed cycles : 2).[0m ×2 + 15.81sWARNros2_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 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 17.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 18.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.88sINFOobjective_server_nodecaller: ×10 + 18.88sINFOobjective_server_nodetype: 0 ×10 + 18.88sINFOobjective_server_nodename: "" ×10 + 18.88sINFOobjective_server_nodeinstance_id: "" ×10 + 18.88sINFOobjective_server_node ×10 + 18.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.92sINFOmove_groupClearing octomap...[0m ×2 + 18.92sINFOmove_groupOctomap cleared.[0m ×2 + 18.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 19.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 20.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 20.77sWARNros2_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 + 20.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.85sINFOobjective_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 + 20.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 20.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 21.34sWARNros2_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 + 21.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.6s | 3 errors · 278 warnings · 254 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119791 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119791 ms (missed cycles : 2).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.741ms + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.239ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289064 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289064 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.846ms + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.636ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723995 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723995 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOjoint_trajectory_controllerGot request to cancel goal + 2.78sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.78sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.78sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.83sERRORobjective_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: 1789003445.09824705 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.88sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 6.940ms + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789003445.68466878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.520ms + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_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 4.002813 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002813 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.98sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.399ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315938 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315938 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797970 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797970 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.18sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.18sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543095 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543095 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199042 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199042 ms (missed cycles : 2).[0m ×2 + 8.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.416ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399735 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399735 ms (missed cycles : 3).[0m ×2 + 9.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.934ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739634 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739634 ms (missed cycles : 2).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 7.874ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606063 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606063 ms (missed cycles : 3).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 8.244ms + 11.48sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 5.518ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370743 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370743 ms (missed cycles : 2).[0m ×2 + 12.08sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.147ms + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829606 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829606 ms (missed cycles : 3).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918977 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918977 ms (missed cycles : 3).[0m ×2 + 14.45sWARNros2_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 ×4 + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258545 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258545 ms (missed cycles : 4).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006260 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006260 ms (missed cycles : 2).[0m ×2 + 16.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293039 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293039 ms (missed cycles : 2).[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.274ms + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912489 ms (missed cycles : 2). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912489 ms (missed cycles : 2).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946282 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946282 ms (missed cycles : 2).[0m ×2 + 20.02sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 20.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 20.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485744 ms (missed cycles : 3). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485744 ms (missed cycles : 3).[0m ×2 + 20.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368174 ms (missed cycles : 3). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368174 ms (missed cycles : 3).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 22.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128082 ms (missed cycles : 3). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128082 ms (missed cycles : 3).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.959401 ms (missed cycles : 5). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.959401 ms (missed cycles : 5).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177168 ms (missed cycles : 2). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177168 ms (missed cycles : 2).[0m ×2 + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 25.61sWARNros2_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 ×6 + 25.63sWARNros2_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 ×8 + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629401 ms (missed cycles : 3). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629401 ms (missed cycles : 3).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728482 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728482 ms (missed cycles : 3).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558884 ms (missed cycles : 3). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558884 ms (missed cycles : 3).[0m ×2 + 28.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139612 ms (missed cycles : 3). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139612 ms (missed cycles : 3).[0m ×2 + 29.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943317 ms (missed cycles : 3). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943317 ms (missed cycles : 3).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264857 ms (missed cycles : 3). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264857 ms (missed cycles : 3).[0m ×2 + 31.19sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 31.21sWARNros2_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 + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.265ms + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.121980 ms (missed cycles : 5). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.121980 ms (missed cycles : 5).[0m ×2 + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786958 ms (missed cycles : 3). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786958 ms (missed cycles : 3).[0m ×2 + 34.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289057 ms (missed cycles : 4). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289057 ms (missed cycles : 4).[0m ×2 + 34.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.56sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.20sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437767 ms (missed cycles : 3). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437767 ms (missed cycles : 3).[0m ×2 + 36.18sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.28sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 36.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052767 ms (missed cycles : 2). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052767 ms (missed cycles : 2).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215154 ms (missed cycles : 4). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215154 ms (missed cycles : 4).[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410919 ms (missed cycles : 3). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410919 ms (missed cycles : 3).[0m ×2 + 39.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624059 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624059 ms (missed cycles : 2).[0m ×2 + 40.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 40.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167123 ms (missed cycles : 2). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167123 ms (missed cycles : 2).[0m ×2 + 41.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087257 ms (missed cycles : 4). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087257 ms (missed cycles : 4).[0m ×2 + 42.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686841 ms (missed cycles : 3). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686841 ms (missed cycles : 3).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822506 ms (missed cycles : 3). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822506 ms (missed cycles : 3).[0m ×2 + 44.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011456 ms (missed cycles : 5). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011456 ms (missed cycles : 5).[0m ×2 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924770 ms (missed cycles : 2). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924770 ms (missed cycles : 2).[0m ×2 + 46.72sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 46.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912037 ms (missed cycles : 3). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912037 ms (missed cycles : 3).[0m ×2 + 47.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034641 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034641 ms (missed cycles : 3).[0m ×2 + 48.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375639 ms (missed cycles : 3). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375639 ms (missed cycles : 3).[0m ×2 + 49.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 49.94sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 50.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462541 ms (missed cycles : 2). + 50.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462541 ms (missed cycles : 2).[0m ×2 + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818278 ms (missed cycles : 2). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818278 ms (missed cycles : 2).[0m ×2 + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794193 ms (missed cycles : 4). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794193 ms (missed cycles : 4).[0m ×2 + 53.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 53.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200036 ms (missed cycles : 5). + 53.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200036 ms (missed cycles : 5).[0m ×2 + 54.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 54.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285960 ms (missed cycles : 4). + 54.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285960 ms (missed cycles : 4).[0m ×2 + 55.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 55.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749231 ms (missed cycles : 2). + 55.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749231 ms (missed cycles : 2).[0m ×2 + 56.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 56.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553226 ms (missed cycles : 4). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553226 ms (missed cycles : 4).[0m ×2 + 57.57sWARNros2_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 + 57.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964288 ms (missed cycles : 2). + 57.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964288 ms (missed cycles : 2).[0m ×2 + 58.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 58.79sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558645 ms (missed cycles : 4). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558645 ms (missed cycles : 4).[0m ×2 + 60.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961965 ms (missed cycles : 2). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961965 ms (missed cycles : 2).[0m ×2 + 61.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679132 ms (missed cycles : 2). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679132 ms (missed cycles : 2).[0m ×2 + 62.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934900 ms (missed cycles : 2). + 62.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934900 ms (missed cycles : 2).[0m ×2 + 63.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309569 ms (missed cycles : 3). + 63.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309569 ms (missed cycles : 3).[0m ×2 + 64.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 64.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974213 ms (missed cycles : 3). + 64.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974213 ms (missed cycles : 3).[0m ×2 + 65.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637866 ms (missed cycles : 3). + 65.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637866 ms (missed cycles : 3).[0m ×2 + 66.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 66.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943827 ms (missed cycles : 3). + 66.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943827 ms (missed cycles : 3).[0m ×2 + 66.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 67.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140004 ms (missed cycles : 5). + 67.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140004 ms (missed cycles : 5).[0m ×2 + 67.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.943ms + 68.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789003510.65484285 seconds ×3 + 68.48sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.48sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931737 ms (missed cycles : 4). + 68.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931737 ms (missed cycles : 4).[0m ×2 + 68.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.92sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.95sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789003511.22345114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.819ms + 69.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219506 ms (missed cycles : 3). + 69.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219506 ms (missed cycles : 3).[0m ×2 + 70.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930947 ms (missed cycles : 2). + 70.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930947 ms (missed cycles : 2).[0m ×2 + 71.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 71.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.4s | 251 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3).[0m ×2 + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768395 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768395 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023368 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023368 ms (missed cycles : 4).[0m ×2 + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364582 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364582 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789003284.43436241 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789003285.01106167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.332ms + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890885 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890885 ms (missed cycles : 4).[0m ×2 + 4.37sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870641 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870641 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375646 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375646 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.48sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681855 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681855 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869312 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869312 ms (missed cycles : 2).[0m ×2 + 8.96sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 3.594ms + 9.48sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667342 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667342 ms (missed cycles : 2).[0m ×2 + 10.06sWARNros2_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 + 10.08sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.188ms + 10.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 2.683ms + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388694 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388694 ms (missed cycles : 3).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762298 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762298 ms (missed cycles : 3).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529847 ms (missed cycles : 4). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529847 ms (missed cycles : 4).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955410 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955410 ms (missed cycles : 2).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 14.62sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896665 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896665 ms (missed cycles : 2).[0m ×2 + 15.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362455 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362455 ms (missed cycles : 2).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046173 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046173 ms (missed cycles : 3).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927249 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927249 ms (missed cycles : 2).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191154 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191154 ms (missed cycles : 2).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182587 ms (missed cycles : 2). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182587 ms (missed cycles : 2).[0m ×2 + 20.59sWARNros2_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 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms ×2 + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299354 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299354 ms (missed cycles : 2).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027294 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027294 ms (missed cycles : 2).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991417 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991417 ms (missed cycles : 3).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 24.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577914 ms (missed cycles : 3). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577914 ms (missed cycles : 3).[0m ×2 + 25.38sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864937 ms (missed cycles : 2). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864937 ms (missed cycles : 2).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.491328 ms (missed cycles : 4). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.491328 ms (missed cycles : 4).[0m ×2 + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154138 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154138 ms (missed cycles : 2).[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280006 ms (missed cycles : 5). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280006 ms (missed cycles : 5).[0m ×2 + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 29.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944819 ms (missed cycles : 2). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944819 ms (missed cycles : 2).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667521 ms (missed cycles : 2). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667521 ms (missed cycles : 2).[0m ×2 + 30.87sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 31.52sWARNros2_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 + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665000 ms (missed cycles : 4). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665000 ms (missed cycles : 4).[0m ×2 + 32.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.669ms + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973531 ms (missed cycles : 3). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973531 ms (missed cycles : 3).[0m ×2 + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675766 ms (missed cycles : 6). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675766 ms (missed cycles : 6).[0m ×2 + 34.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 34.89sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862265 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862265 ms (missed cycles : 2).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191783 ms (missed cycles : 4). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191783 ms (missed cycles : 4).[0m ×2 + 36.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174764 ms (missed cycles : 6). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174764 ms (missed cycles : 6).[0m ×2 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876657 ms (missed cycles : 3). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876657 ms (missed cycles : 3).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503335 ms (missed cycles : 3). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503335 ms (missed cycles : 3).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363359 ms (missed cycles : 4). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363359 ms (missed cycles : 4).[0m ×2 + 41.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101778 ms (missed cycles : 3). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101778 ms (missed cycles : 3).[0m ×2 + 41.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.592ms + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979154 ms (missed cycles : 2). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979154 ms (missed cycles : 2).[0m ×2 + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674322 ms (missed cycles : 2). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674322 ms (missed cycles : 2).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349484 ms (missed cycles : 6). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349484 ms (missed cycles : 6).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971356 ms (missed cycles : 3). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971356 ms (missed cycles : 3).[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795211 ms (missed cycles : 2). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795211 ms (missed cycles : 2).[0m ×2 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.413491 ms (missed cycles : 5). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.413491 ms (missed cycles : 5).[0m ×2 + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689446 ms (missed cycles : 3). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689446 ms (missed cycles : 3).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773641 ms (missed cycles : 2). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773641 ms (missed cycles : 2).[0m ×2 + 50.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251000 ms (missed cycles : 2). + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251000 ms (missed cycles : 2).[0m ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822562 ms (missed cycles : 3). + 52.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822562 ms (missed cycles : 3).[0m ×2 + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 53.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504296 ms (missed cycles : 3). + 53.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504296 ms (missed cycles : 3).[0m ×2 + 53.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 54.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593290 ms (missed cycles : 4). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593290 ms (missed cycles : 4).[0m ×2 + 55.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613247 ms (missed cycles : 4). + 55.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613247 ms (missed cycles : 4).[0m ×2 + 56.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 56.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417906 ms (missed cycles : 3). + 56.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417906 ms (missed cycles : 3).[0m ×2 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2).[0m ×2 + 58.06sWARNros2_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 + 58.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4).[0m ×2 + 59.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4). + 59.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4).[0m ×2 + 60.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3). + 60.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3).[0m ×2 + 60.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789003341.79119635 seconds ×3 + 60.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.10sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789003342.37242365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.12sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.693ms + 61.20sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.49sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4). + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4).[0m ×2 + 61.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.496ms + 61.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2). + 62.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2).[0m ×2 + 63.33sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2). + 63.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 242 warnings · 202 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.00sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 + 6.95sWARNros2_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 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558517 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558517 ms (missed cycles : 3).[0m ×2 + 7.98sWARNros2_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 + 8.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.652ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208988 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208988 ms (missed cycles : 2).[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.411ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326323 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326323 ms (missed cycles : 2).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.127ms + 10.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.940ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908318 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908318 ms (missed cycles : 2).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.488ms + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.995ms + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970144 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970144 ms (missed cycles : 2).[0m ×2 + 12.18sWARNros2_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 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.790ms + 12.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.516ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345447 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345447 ms (missed cycles : 3).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.752ms + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879610 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879610 ms (missed cycles : 3).[0m ×2 + 14.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.847ms + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467906 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467906 ms (missed cycles : 3).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.865ms + 15.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939154 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939154 ms (missed cycles : 2).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.336ms + 17.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.574ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032611 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032611 ms (missed cycles : 2).[0m ×2 + 17.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.62sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 7.962ms + 18.17sINFOamclParticle filter update iteration stats: 4094 particles 723 points - 6.117ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891523 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891523 ms (missed cycles : 2).[0m ×2 + 18.70sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.74sINFOamclParticle filter update iteration stats: 2429 particles 723 points - 6.457ms + 19.32sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 4.909ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266732 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266732 ms (missed cycles : 2).[0m ×2 + 19.89sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 3.196ms + 20.48sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.501ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913248 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913248 ms (missed cycles : 3).[0m ×2 + 21.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092682 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092682 ms (missed cycles : 2).[0m ×2 + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.654ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099284 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099284 ms (missed cycles : 2).[0m ×2 + 22.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×6 + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746561 ms (missed cycles : 3). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746561 ms (missed cycles : 3).[0m ×2 + 23.98sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545006 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545006 ms (missed cycles : 2).[0m ×2 + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674434 ms (missed cycles : 3). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674434 ms (missed cycles : 3).[0m ×2 + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032650 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032650 ms (missed cycles : 2).[0m ×2 + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245006 ms (missed cycles : 4). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245006 ms (missed cycles : 4).[0m ×2 + 28.32sWARNros2_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 + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 28.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380800 ms (missed cycles : 3). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380800 ms (missed cycles : 3).[0m ×2 + 29.51sWARNros2_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 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210384 ms (missed cycles : 4). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210384 ms (missed cycles : 4).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.330681 ms (missed cycles : 5). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.330681 ms (missed cycles : 5).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334971 ms (missed cycles : 5). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334971 ms (missed cycles : 5).[0m ×2 + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 33.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841337 ms (missed cycles : 5). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841337 ms (missed cycles : 5).[0m ×2 + 33.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 34.41sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789105 ms (missed cycles : 4). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789105 ms (missed cycles : 4).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809831 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809831 ms (missed cycles : 3).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819192 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819192 ms (missed cycles : 3).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107328 ms (missed cycles : 5). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107328 ms (missed cycles : 5).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951872 ms (missed cycles : 3). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951872 ms (missed cycles : 3).[0m ×2 + 38.92sWARNros2_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 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001117 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001117 ms (missed cycles : 2).[0m ×2 + 40.75sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895933 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895933 ms (missed cycles : 2).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222887 ms (missed cycles : 4). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222887 ms (missed cycles : 4).[0m ×2 + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402796 ms (missed cycles : 3). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402796 ms (missed cycles : 3).[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783145 ms (missed cycles : 5). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783145 ms (missed cycles : 5).[0m ×2 + 45.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691581 ms (missed cycles : 2). + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691581 ms (missed cycles : 2).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121811 ms (missed cycles : 2). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121811 ms (missed cycles : 2).[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692423 ms (missed cycles : 2). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692423 ms (missed cycles : 2).[0m ×2 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910476 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910476 ms (missed cycles : 3).[0m ×2 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264991 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264991 ms (missed cycles : 2).[0m ×2 + 50.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979736 ms (missed cycles : 5). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979736 ms (missed cycles : 5).[0m ×2 + 51.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431809 ms (missed cycles : 3). + 51.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431809 ms (missed cycles : 3).[0m ×2 + 51.45sWARNros2_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 + 52.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604935 ms (missed cycles : 4). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604935 ms (missed cycles : 4).[0m ×2 + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709414 ms (missed cycles : 2). + 53.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709414 ms (missed cycles : 2).[0m ×2 + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341930 ms (missed cycles : 3). + 54.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341930 ms (missed cycles : 3).[0m ×2 + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411178 ms (missed cycles : 3). + 55.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411178 ms (missed cycles : 3).[0m ×2 + 55.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 56.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563124 ms (missed cycles : 3). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563124 ms (missed cycles : 3).[0m ×2 + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091137 ms (missed cycles : 3). + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091137 ms (missed cycles : 3).[0m ×2 + 58.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002129 ms (missed cycles : 2). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002129 ms (missed cycles : 2).[0m ×2 + 59.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 59.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958661 ms (missed cycles : 2). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958661 ms (missed cycles : 2).[0m ×2 + 60.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789003574.23098755 seconds ×3 + 60.12sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.13sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.21sWARNros2_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 + 60.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.55sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.60sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789003574.82314181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.966ms + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808719 ms (missed cycles : 2). + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808719 ms (missed cycles : 2).[0m ×2 + 61.03sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 61.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.96sWARNros2_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 + 62.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248992 ms (missed cycles : 2). + 62.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248992 ms (missed cycles : 2).[0m ×2 + 63.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407845 ms (missed cycles : 3). + 63.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407845 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.1s | 251 warnings · 218 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.591ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789003380.98690057 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2).[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789003381.57122231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.19sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.60sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.60sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.60sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911659 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911659 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965686 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965686 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.697ms + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649453 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649453 ms (missed cycles : 3).[0m ×2 + 9.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.03sWARNros2_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 + 10.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.257ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761112 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761112 ms (missed cycles : 2).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.818ms + 11.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.603ms + 11.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.104ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550128 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550128 ms (missed cycles : 2).[0m ×2 + 12.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.252ms + 12.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.837ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122035 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122035 ms (missed cycles : 2).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.667ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921354 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921354 ms (missed cycles : 2).[0m ×2 + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.224ms + 14.72sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111129 ms (missed cycles : 3). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111129 ms (missed cycles : 3).[0m ×2 + 15.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 15.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505123 ms (missed cycles : 5). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505123 ms (missed cycles : 5).[0m ×2 + 16.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972268 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972268 ms (missed cycles : 3).[0m ×2 + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612592 ms (missed cycles : 2). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612592 ms (missed cycles : 2).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905162 ms (missed cycles : 2). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905162 ms (missed cycles : 2).[0m ×2 + 20.18sWARNros2_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 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368036 ms (missed cycles : 6). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368036 ms (missed cycles : 6).[0m ×2 + 20.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737412 ms (missed cycles : 4). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737412 ms (missed cycles : 4).[0m ×2 + 22.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038593 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038593 ms (missed cycles : 2).[0m ×2 + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026671 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026671 ms (missed cycles : 3).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378133 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378133 ms (missed cycles : 3).[0m ×2 + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 25.70sWARNros2_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 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019472 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019472 ms (missed cycles : 2).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849866 ms (missed cycles : 3). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849866 ms (missed cycles : 3).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757458 ms (missed cycles : 2). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757458 ms (missed cycles : 2).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.332ms + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.523ms + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108730 ms (missed cycles : 2). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108730 ms (missed cycles : 2).[0m ×2 + 29.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971975 ms (missed cycles : 3). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971975 ms (missed cycles : 3).[0m ×2 + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms ×2 + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257794 ms (missed cycles : 5). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257794 ms (missed cycles : 5).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748676 ms (missed cycles : 3). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748676 ms (missed cycles : 3).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.062ms + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138474 ms (missed cycles : 3). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138474 ms (missed cycles : 3).[0m ×2 + 33.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 33.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011934 ms (missed cycles : 3). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011934 ms (missed cycles : 3).[0m ×2 + 34.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269873 ms (missed cycles : 2). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269873 ms (missed cycles : 2).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353024 ms (missed cycles : 2). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353024 ms (missed cycles : 2).[0m ×2 + 36.88sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 36.91sWARNros2_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 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230715 ms (missed cycles : 2). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230715 ms (missed cycles : 2).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799114 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799114 ms (missed cycles : 2).[0m ×2 + 39.05sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179755 ms (missed cycles : 5). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179755 ms (missed cycles : 5).[0m ×2 + 39.84sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967263 ms (missed cycles : 4). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967263 ms (missed cycles : 4).[0m ×2 + 41.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544236 ms (missed cycles : 6). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544236 ms (missed cycles : 6).[0m ×2 + 41.95sWARNros2_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 + 41.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 42.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113076 ms (missed cycles : 3). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113076 ms (missed cycles : 3).[0m ×2 + 43.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 43.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258497 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258497 ms (missed cycles : 2).[0m ×2 + 44.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002082 ms (missed cycles : 5). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002082 ms (missed cycles : 5).[0m ×2 + 45.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 46.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877415 ms (missed cycles : 2). + 46.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877415 ms (missed cycles : 2).[0m ×2 + 47.00sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 47.02sWARNros2_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 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786241 ms (missed cycles : 3). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786241 ms (missed cycles : 3).[0m ×2 + 48.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104562 ms (missed cycles : 3). + 48.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104562 ms (missed cycles : 3).[0m ×2 + 48.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 49.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485578 ms (missed cycles : 5). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485578 ms (missed cycles : 5).[0m ×2 + 50.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 50.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.735ms + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057726 ms (missed cycles : 3). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057726 ms (missed cycles : 3).[0m ×2 + 51.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 52.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923944 ms (missed cycles : 4). + 52.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923944 ms (missed cycles : 4).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550470 ms (missed cycles : 3). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550470 ms (missed cycles : 3).[0m ×2 + 54.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723264 ms (missed cycles : 3). + 54.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723264 ms (missed cycles : 3).[0m ×2 + 54.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 55.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794567 ms (missed cycles : 5). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794567 ms (missed cycles : 5).[0m ×2 + 55.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 56.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789003434.13137603 seconds ×3 + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226194 ms (missed cycles : 2). + 56.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226194 ms (missed cycles : 2).[0m ×2 + 56.43sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.44sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 56.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789003434.71102929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.93sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.94sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 57.32sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 57.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455850 ms (missed cycles : 3). + 57.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455850 ms (missed cycles : 3).[0m ×2 + 57.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.422ms + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396598 ms (missed cycles : 3). + 58.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396598 ms (missed cycles : 3).[0m ×2 + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700298 ms (missed cycles : 2). + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700298 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 184 warnings · 381 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 ×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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×8 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547297 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547297 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682199 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682199 ms (missed cycles : 2).[0m ×2 + 8.10sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135485 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135485 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906313 ms (missed cycles : 4). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906313 ms (missed cycles : 4).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173802 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173802 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579178 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579178 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022475 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022475 ms (missed cycles : 3).[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 ×4 + 13.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×8 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430169 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430169 ms (missed cycles : 3).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062137 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062137 ms (missed cycles : 2).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.971ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694015 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694015 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431751 ms (missed cycles : 4). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431751 ms (missed cycles : 4).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637755 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637755 ms (missed cycles : 2).[0m ×2 + 18.17sWARNros2_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 + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015720 ms (missed cycles : 2). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015720 ms (missed cycles : 2).[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289216 ms (missed cycles : 4). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289216 ms (missed cycles : 4).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857166 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857166 ms (missed cycles : 2).[0m ×2 + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363183 ms (missed cycles : 3). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363183 ms (missed cycles : 3).[0m ×2 + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285168 ms (missed cycles : 2). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285168 ms (missed cycles : 2).[0m ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002032 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002032 ms (missed cycles : 2).[0m ×2 + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975427 ms (missed cycles : 3). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975427 ms (missed cycles : 3).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480100 ms (missed cycles : 3). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480100 ms (missed cycles : 3).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114875 ms (missed cycles : 3). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114875 ms (missed cycles : 3).[0m ×2 + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935828 ms (missed cycles : 2). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935828 ms (missed cycles : 2).[0m ×2 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429969 ms (missed cycles : 2). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429969 ms (missed cycles : 2).[0m ×2 + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129443 ms (missed cycles : 2). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129443 ms (missed cycles : 2).[0m ×2 + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703223 ms (missed cycles : 5). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703223 ms (missed cycles : 5).[0m ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069558 ms (missed cycles : 2). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069558 ms (missed cycles : 2).[0m ×2 + 33.77sWARNros2_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 + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014263 ms (missed cycles : 3). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014263 ms (missed cycles : 3).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287837 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287837 ms (missed cycles : 2).[0m ×2 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803337 ms (missed cycles : 2). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803337 ms (missed cycles : 2).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358310 ms (missed cycles : 3). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358310 ms (missed cycles : 3).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660928 ms (missed cycles : 3). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660928 ms (missed cycles : 3).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983438 ms (missed cycles : 2). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983438 ms (missed cycles : 2).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217439 ms (missed cycles : 2). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217439 ms (missed cycles : 2).[0m ×2 + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801109 ms (missed cycles : 3). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801109 ms (missed cycles : 3).[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613393 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613393 ms (missed cycles : 2).[0m ×2 + 42.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2).[0m ×2 + 44.40sWARNros2_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 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3).[0m ×2 + 45.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3). + 45.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3).[0m ×2 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3). + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3).[0m ×2 + 46.61sINFOjoint_trajectory_controllerGoal reached, success! + 46.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789003278.26777744 seconds ×3 + 46.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789003278.84422779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 48.37sINFOobjective_server_nodeFound path in 0 iterations (3.7804e-05 s). ×2 + 48.44sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2).[0m ×2 + 49.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.8s | 156 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931059 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931059 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592626 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592626 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970570 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970570 ms (missed cycles : 3).[0m ×2 + 2.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.18sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789003348.14255786 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951075 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951075 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.65sWARNros2_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 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789003349.71675897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.28sWARNros2_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 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511489 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511489 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250683 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250683 ms (missed cycles : 2).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237923 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237923 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844965 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844965 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777738 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777738 ms (missed cycles : 3).[0m ×2 + 8.93sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.691ms + 9.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628308 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628308 ms (missed cycles : 3).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.210ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339948 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339948 ms (missed cycles : 3).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.590ms + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.850ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251689 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251689 ms (missed cycles : 3).[0m ×2 + 11.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.950ms + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.346ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029861 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029861 ms (missed cycles : 4).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 13.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583606 ms (missed cycles : 4). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583606 ms (missed cycles : 4).[0m ×2 + 14.16sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.593ms + 14.78sWARNros2_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 + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.242ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119968 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119968 ms (missed cycles : 2).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.879ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832173 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832173 ms (missed cycles : 2).[0m ×2 + 16.02sINFOamclParticle filter update iteration stats: 4487 particles 723 points - 8.347ms + 16.62sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 6.370ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701514 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701514 ms (missed cycles : 3).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 4.083ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704050 ms (missed cycles : 4). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704050 ms (missed cycles : 4).[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050738 ms (missed cycles : 3). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050738 ms (missed cycles : 3).[0m ×2 + 19.58sWARNros2_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 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 20.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071651 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071651 ms (missed cycles : 3).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810426 ms (missed cycles : 3). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810426 ms (missed cycles : 3).[0m ×2 + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 22.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790746 ms (missed cycles : 3). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790746 ms (missed cycles : 3).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513633 ms (missed cycles : 3). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513633 ms (missed cycles : 3).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304787 ms (missed cycles : 2). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304787 ms (missed cycles : 2).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 25.13sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.409ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504900 ms (missed cycles : 3). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504900 ms (missed cycles : 3).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757743 ms (missed cycles : 4). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757743 ms (missed cycles : 4).[0m ×2 + 26.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321488 ms (missed cycles : 2). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321488 ms (missed cycles : 2).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708624 ms (missed cycles : 2). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708624 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.637ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253164 ms (missed cycles : 2). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253164 ms (missed cycles : 2).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479526 ms (missed cycles : 2). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479526 ms (missed cycles : 2).[0m ×2 + 31.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.591ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2).[0m ×2 + 32.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2).[0m ×2 + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2).[0m ×2 + 34.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 35.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789003380.98690057 seconds ×3 + 35.09sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.09sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2).[0m ×2 + 35.49sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.49sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789003381.57122231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.01sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 36.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3).[0m ×2 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 93 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091137 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091137 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002129 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002129 ms (missed cycles : 2).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958661 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958661 ms (missed cycles : 2).[0m ×2 + 2.37sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.37sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789003574.23098755 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.59sWARNros2_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 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.93sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.93sINFOobjective_server_nodecaller: ×6 + 2.93sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 2.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789003574.82314181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.966ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808719 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808719 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×4 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.35sWARNros2_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 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248992 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248992 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407845 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407845 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381579 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381579 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475652 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475652 ms (missed cycles : 4).[0m ×2 + 7.82sWARNros2_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 ×4 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486000 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486000 ms (missed cycles : 2).[0m ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 9.52sWARNros2_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 + 9.61sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058281 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058281 ms (missed cycles : 2).[0m ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.81sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 10.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.57sINFOobjective_server_nodeFound path in 33 iterations (0.0398949 s). ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311710 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311710 ms (missed cycles : 3).[0m ×2 + 11.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441912 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441912 ms (missed cycles : 3).[0m ×2 + 12.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.67sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.97sWARNros2_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 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070115 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070115 ms (missed cycles : 4).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153308 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153308 ms (missed cycles : 2).[0m ×2 + 14.69sWARNros2_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 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992202 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992202 ms (missed cycles : 2).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.276ms + 15.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.866ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348223 ms (missed cycles : 4). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348223 ms (missed cycles : 4).[0m ×2 + 16.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.801ms + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.070ms + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3).[0m ×2 + 18.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789003590.49914646 seconds ×3 + 19.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.754ms + 19.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003591.11314774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.27sINFOmove_groupClearing octomap...[0m ×2 + 19.27sINFOmove_groupOctomap cleared.[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4).[0m ×2 + 19.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003592.10329580 seconds ×3 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2).[0m ×2 + 20.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003592.67140722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003593.21152258 seconds ×3 + 21.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 97 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550470 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550470 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723264 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723264 ms (missed cycles : 3).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794567 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794567 ms (missed cycles : 5).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789003434.13137603 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226194 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226194 ms (missed cycles : 2).[0m ×2 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789003434.71102929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455850 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455850 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.422ms + 4.76sWARNros2_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 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396598 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396598 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700298 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700298 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.34sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.34sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.34sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910618 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910618 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025515 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025515 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.349ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093238 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093238 ms (missed cycles : 3).[0m ×2 + 9.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.364ms + 9.97sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.99sWARNros2_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 + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.784ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364260 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364260 ms (missed cycles : 2).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.517ms + 11.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119791 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119791 ms (missed cycles : 2).[0m ×2 + 11.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.741ms + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.239ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289064 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289064 ms (missed cycles : 2).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.846ms + 13.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.636ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723995 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723995 ms (missed cycles : 3).[0m ×2 + 13.94sINFOobjective_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 + 13.95sINFOjoint_trajectory_controllerGot request to cancel goal + 13.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.99sERRORobjective_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: 1789003445.09824705 seconds ×3 + 14.04sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.04sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.04sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 6.940ms + 14.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789003445.68466878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.520ms + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002813 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002813 ms (missed cycles : 3).[0m ×2 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 15.15sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.17sWARNros2_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 + 15.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.399ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315938 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315938 ms (missed cycles : 3).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797970 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797970 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 104 errors · 38 warnings · 520 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.070ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3).[0m ×2 + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789003590.49914646 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.754ms + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003591.11314774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.27sINFOmove_groupClearing octomap...[0m ×2 + 2.27sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4).[0m ×2 + 2.79sWARNros2_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 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003592.10329580 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003592.67140722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003593.21152258 seconds ×3 + 4.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411547 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411547 ms (missed cycles : 3).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413531 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413531 ms (missed cycles : 3).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933128 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933128 ms (missed cycles : 3).[0m ×2 + 8.26sWARNros2_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 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164041 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164041 ms (missed cycles : 2).[0m ×2 + 9.96sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.01sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.01sERRORweb_video_auth_proxy-38process has died [pid 7919, 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 + 10.02sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.02sERRORweb_bridge_auth_proxy-37process has died [pid 7918, 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 + 10.02sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653840 ms (missed cycles : 3). + 10.03sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.04sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.05sINFOvideo_server-36process has finished cleanly [pid 7906] ×2 + 10.05sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.06sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.07sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.09sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.10sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.11sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.12sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.13sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.14sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.16sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.16sINFOcontroller_managerShutdown request received.... + 10.16sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.16sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.16sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.16sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.16sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.16sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.16sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.16sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.16sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.16sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.16sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.16sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.16sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.17sINFOcontroller_managerShutting down the controller manager. + 10.17sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.19sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.20sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.20sERRORmove_group-24process has died [pid 7823, 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_832f3nz1 --params-file /tmp/launch_params_ba_4mj_b --params-file /tmp/launch_params_jggegyp1 --params-file /tmp/launch_params_xgt_w66f --params-file /tmp/launch_params_1px_03ub --params-file /tmp/launch_params_w54_zor5']. ×2 + 10.21sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.23sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.24sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.25sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.34sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.35sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.35sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.35sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.35sINFOmap_serverDeactivating + 10.35sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.36sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.36sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.36sINFOcontroller_serverDeactivating + 10.36sINFOlocal_costmap.local_costmapDeactivating + 10.36sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.36sINFOvideo_server2026/09/10 01:26:38 INF shutting down gracefully ×2 + 10.36sINFOvideo_server2026/09/10 01:26:38 INF [WebRTC] closing ×2 + 10.36sINFOvideo_server2026/09/10 01:26:38 INF [RTSP] closing ×2 + 10.36sINFOvideo_server2026/09/10 01:26:38 INF waiting for running hooks ×2 + 10.36sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653840 ms (missed cycles : 3).[0m ×2 + 10.36sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.36sINFOmap_serverCleaning up + 10.36sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.36sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.37sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.37sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.37sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.37sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.37sERRORmove_groupStack trace (most recent call last) in thread 8515: ×2 + 10.37sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.37sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8807b07a63, in __clone ×2 + 10.37sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8807a7aaa3, in ×2 + 10.37sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8807d0cdb3, in ×2 + 10.37sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f8808470b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.37sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f880809e620, in rclcpp::Rate::sleep() ×2 + 10.37sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8807fe0d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.37sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8807fa2087, in ×2 + 10.37sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8807cdb390, in __cxa_throw ×2 + 10.37sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8807cc5a54, in std::terminate() ×2 + 10.37sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8807cdb0d9, in ×2 + 10.37sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8807cc5ff4, in ×2 + 10.37sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8807a068fe, in abort ×2 + 10.37sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8807a2327d, in raise ×2 + 10.37sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8807a7cb2c, in pthread_kill ×2 + 10.37sERRORmove_groupAborted (Signal sent by tkill() 7823 0) ×2 + 10.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.37sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.37sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.37sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.37sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.37sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.38sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.38sINFOodom_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 + 10.38sINFOodom_qos_relay.pymain() ×2 + 10.38sINFOodom_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 + 10.38sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.38sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.38sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.38sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.38sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.38sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.38sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.38sERRORamclThe bond connection to the lifecycle manager has been broken + 10.38sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.38sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.38sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.38sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.41sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.42sINFOcontroller_serverCleaning up + 10.42sINFOlocal_costmap.local_costmapCleaning up + 10.47sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.47sINFOsmoother_serverDeactivating + 10.47sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.48sINFOsmoother_serverCleaning up + 10.49sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.49sINFOplanner_serverDeactivating + 10.49sINFOglobal_costmap.global_costmapDeactivating + 10.58sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.58sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.58sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.58sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.58sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.58sINFOvelocity_smootherDeactivating + 10.58sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.69sINFOwaypoint_followerDeactivating + 10.69sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.81sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.81sINFObt_navigatorDeactivating + 10.81sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.92sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.92sINFObehavior_serverDeactivating + 10.92sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.03sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.03sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.03sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.03sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.03sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.03sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.03sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.04sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.04sINFOvelocity_smootherCleaning up + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.04sINFOwaypoint_followerCleaning up + 11.07sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.07sINFObt_navigatorCleaning up + 11.09sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7904] ×2 + 11.09sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.16sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7875] ×2 + 11.17sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7874] ×2 + 11.18sINFOui_teleop_bridge-33process has finished cleanly [pid 7882] ×2 + 11.18sINFOexecute_objective_bridge-32process has finished cleanly [pid 7881] ×2 + 11.20sINFOcomponent_container_mt-31process has finished cleanly [pid 7878] ×2 + 11.21sINFOparameter_manager_node-25process has finished cleanly [pid 7872] ×2 + 11.22sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7808] ×2 + 11.23sINFOwaypoint_manager_node-26process has finished cleanly [pid 7873] ×2 + 11.24sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7807] ×2 + 11.25sINFOstatic_transform_publisher-9process has finished cleanly [pid 7725] ×2 + 11.25sINFObt_navigatorCompleted Cleaning up + 11.25sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.25sINFObehavior_serverCleaning up + 11.26sINFOstatic_transform_publisher-8process has finished cleanly [pid 7724] ×2 + 11.27sINFOobjective_server_node[2026-09-10 01:26:40.107] [moveit_pro_license] [critical] ×2 + 11.27sINFOobjective_server_node************************************************* ×4 + 11.27sINFOobjective_server_node* MoveIt Pro License ×2 + 11.27sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.27sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.27sINFOlidar_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 + 11.27sINFOlidar_flattener.pymain() ×2 + 11.27sINFOlidar_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 + 11.27sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.27sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.27sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.27sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.27sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.27sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.27sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.27sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.27sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.31sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.31sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.31sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.31sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.31sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.31sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.31sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.32sERRORlidar_flattener.py-7process has died [pid 7723, 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_uc70j701']. ×2 + 11.33sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.33sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.34sINFOobjective_server_node_main-29process has finished cleanly [pid 7876] ×2 + 11.34sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.34sINFOplanner_serverCleaning up + 11.35sERRORodom_qos_relay.py-5process has died [pid 7721, 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 + 11.36sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7722] ×2 + 11.36sINFOglobal_costmap.global_costmapCleaning up + 11.37sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.37sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.38sINFOstatic_transform_publisher-4process has finished cleanly [pid 7720] ×2 + 11.39sINFOstatic_transform_publisher-3process has finished cleanly [pid 7719] ×2 + 11.40sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.40sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.40sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.40sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.40sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.73sERRORcomponent_container_isolated-1process has died [pid 7717, 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_lm8ro1cp --params-file /tmp/launch_params_et0wcbzq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.74sERRORcomponent_container_isolated-2process has died [pid 7718, 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_lm8ro1cp --params-file /tmp/launch_params_y8d3u41n -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.29sINFOcomponent_container_mt-30process has finished cleanly [pid 7877] ×2 + 12.90sINFOros2_control_node-12process has finished cleanly [pid 7809] ×2 + 13.13sINFOweb_bridge-34process has finished cleanly [pid 7903] ×2 + 13.13sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 74 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789003341.79119635 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789003342.37242365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.693ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.496ms + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931059 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931059 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592626 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592626 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970570 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970570 ms (missed cycles : 3).[0m ×2 + 9.47sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789003348.14255786 seconds ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951075 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951075 ms (missed cycles : 2).[0m ×2 + 10.94sWARNros2_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 + 11.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789003349.71675897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.48sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511489 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511489 ms (missed cycles : 3).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250683 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250683 ms (missed cycles : 2).[0m ×2 + 12.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237923 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237923 ms (missed cycles : 2).[0m ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 57 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637866 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637866 ms (missed cycles : 3).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943827 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943827 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140004 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140004 ms (missed cycles : 5).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.943ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789003510.65484285 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_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 + 2.90sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931737 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931737 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789003511.22345114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.819ms + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219506 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219506 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930947 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930947 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 8.15sWARNros2_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 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 9.16sWARNros2_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 + 9.28sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 seconds ×3 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 9.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.27sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 51 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789003278.26777744 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789003278.84422779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.7804e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3).[0m ×2 + 7.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768395 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768395 ms (missed cycles : 2).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 8.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023368 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023368 ms (missed cycles : 4).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364582 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364582 ms (missed cycles : 3).[0m ×2 + 9.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789003284.43436241 seconds ×3 + 9.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789003285.01106167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.98sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.332ms + 10.33sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890885 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890885 ms (missed cycles : 4).[0m ×2 + 10.53sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.19sWARNros2_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 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870641 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870641 ms (missed cycles : 2).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375646 ms (missed cycles : 3). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375646 ms (missed cycles : 3).[0m ×2 + 12.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 30 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.866ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348223 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348223 ms (missed cycles : 4).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.801ms + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2).[0m ×2 + 2.25sWARNros2_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 + 2.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.070ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789003590.49914646 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.754ms + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003591.11314774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.42sINFOmove_groupClearing octomap...[0m ×2 + 3.42sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4).[0m ×2 + 3.94sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.95sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003592.10329580 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003592.67140722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003593.21152258 seconds ×3 + 5.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411547 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411547 ms (missed cycles : 3).[0m ×2 + 7.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413531 ms (missed cycles : 3). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413531 ms (missed cycles : 3).[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 - 2.591ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789003380.98690057 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2).[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789003381.57122231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.19sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547297 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547297 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 29 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789003278.26777744 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_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 ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789003278.84422779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.7804e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 29 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201366 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859087 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153690 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603460 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789003278.26777744 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_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 ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789003278.84422779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437609 ms (missed cycles : 2).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.7804e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130549 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 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 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 5.53sWARNros2_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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365070 ms (missed cycles : 3).[0m ×2 + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768395 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768395 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023368 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023368 ms (missed cycles : 4).[0m ×2 + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364582 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364582 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789003284.43436241 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789003285.01106167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.332ms + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890885 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890885 ms (missed cycles : 4).[0m ×2 + 4.37sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.03sWARNros2_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 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870641 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870641 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375646 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375646 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 49 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789003341.79119635 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789003342.37242365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.693ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.496ms + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 49 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789003341.79119635 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789003342.37242365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.693ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.496ms + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 49 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789003341.79119635 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789003342.37242365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.693ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.496ms + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 49 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789003341.79119635 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789003342.37242365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.693ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.496ms + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 49 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395823 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610209 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124192 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831649 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789003341.79119635 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789003342.37242365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.693ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-3.52, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871144 ms (missed cycles : 4).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.496ms + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932022 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916127 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − 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 - 2.591ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789003380.98690057 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2).[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789003381.57122231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.19sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_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 - 2.591ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201808 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910427 ms (missed cycles : 2).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781067 ms (missed cycles : 2).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789003380.98690057 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963971 ms (missed cycles : 2).[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789003381.57122231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.19sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357583 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590112 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_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 (0.57 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 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 5.53sWARNros2_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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[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 (0.57 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 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 5.53sWARNros2_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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043280 ms (missed cycles : 3).[0m ×2 + 1.72sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327396 ms (missed cycles : 3).[0m ×2 + 2.73sWARNros2_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 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789003517.07359791 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 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899868 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789003517.65084386 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 ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543772 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704255 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507532 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.866ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348223 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348223 ms (missed cycles : 4).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.801ms + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292858 ms (missed cycles : 2).[0m ×2 + 2.25sWARNros2_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 + 2.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.070ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426271 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789003590.49914646 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.754ms + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789003591.11314774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.42sINFOmove_groupClearing octomap...[0m ×2 + 3.42sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641986 ms (missed cycles : 4).[0m ×2 + 3.94sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.95sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789003592.10329580 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063531 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789003592.67140722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789003593.21152258 seconds ×3 + 5.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379935 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | 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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.22sINFOobjective_server_nodecaller: ×10 + 2.22sINFOobjective_server_nodetype: 0 ×10 + 2.22sINFOobjective_server_nodename: "" ×10 + 2.22sINFOobjective_server_nodeinstance_id: "" ×10 + 2.22sINFOobjective_server_node ×10 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.10sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 4.67sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 (0.57 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 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 5.53sWARNros2_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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.00sINFOjoint_trajectory_controllerReceived new action goal + 7.00sINFOjoint_trajectory_controllerAccepted new action goal + 7.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 303 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388564 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388564 ms (missed cycles : 2).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.13sINFOros2_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 + 3.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 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 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[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 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 5.54sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 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 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 7.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 29 warnings · 300 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388564 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388564 ms (missed cycles : 2).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.13sINFOros2_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 + 3.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 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 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[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 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 5.54sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 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 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 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 (0.57 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 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 5.53sWARNros2_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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_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 (0.57 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 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 5.53sWARNros2_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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_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 (0.57 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 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.07sINFOobjective_server_nodecaller: ×10 + 3.07sINFOobjective_server_nodetype: 0 ×10 + 3.07sINFOobjective_server_nodename: "" ×10 + 3.07sINFOobjective_server_nodeinstance_id: "" ×10 + 3.07sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 5.53sWARNros2_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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503268 ms (missed cycles : 4).[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.22sINFOobjective_server_nodecaller: ×10 + 2.22sINFOobjective_server_nodetype: 0 ×10 + 2.22sINFOobjective_server_nodename: "" ×10 + 2.22sINFOobjective_server_nodeinstance_id: "" ×10 + 2.22sINFOobjective_server_node ×10 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 4.10sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789003234.73415685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 4.67sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547297 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547297 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − 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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420748 ms (missed cycles : 3).[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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789003232.80892992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.19sINFOmove_groupClearing octomap...[0m ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789003232.81916809 seconds ×3 + 1.75sINFOobjective_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: 1789003233.40429878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789003233.42441821 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253704 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789003233.99132442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789003234.14196086 seconds ×3 + 3.04sWARNros2_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 + 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: 1789003234.73415685 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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998890 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789003234.77428031 seconds ×3 + 3.61sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789003235.35002065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243485 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639758 ms (missed cycles : 3).[0m ×2 | ||||