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 · 318 warnings · 1522 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-10-02-57-15-278701-89e16828b888-7649 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.30sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 4.32sINFOstatic_tf_lidar_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' + 4.32sINFOstatic_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' + 4.33sINFOstatic_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' + 4.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.65sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.66sINFOcontroller_managerupdate rate is 600 Hz + 4.66sINFOcontroller_managerOverruns handling is : enabled + 4.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.66sWARNcontroller_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. + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798041 ms (missed cycles : 3). + 4.68sINFOros2_control_node-12process started with pid [7791] ×2 + 4.68sINFOmove_group-24process started with pid [7818] ×2 + 4.68sINFOparameter_manager_node-25process started with pid [7854] ×2 + 4.68sINFOwaypoint_manager_node-26process started with pid [7855] ×2 + 4.68sINFOmove_joint_resampler_node-27process started with pid [7856] ×2 + 4.68sINFOmove_end_effector_resampler_node-28process started with pid [7863] ×2 + 4.68sINFOobjective_server_node_main-29process started with pid [7870] ×2 + 4.68sINFOcomponent_container_mt-30process started with pid [7871] ×2 + 4.68sINFOcomponent_container_mt-31process started with pid [7879] ×2 + 4.68sINFOexecute_objective_bridge-32process started with pid [7880] ×2 + 4.68sINFOui_teleop_bridge-33process started with pid [7885] ×2 + 4.68sINFOweb_bridge-34process started with pid [7888] ×2 + 4.68sINFOtf2_web_republisher_node-35process started with pid [7889] ×2 + 4.68sINFOvideo_server-36process started with pid [7891] ×2 + 4.69sINFOweb_bridge_auth_proxy-37process started with pid [7913] ×2 + 4.69sINFOweb_video_auth_proxy-38process started with pid [7925] ×2 + 4.70sINFOcomponent_container_isolated-1process started with pid [7699] ×2 + 4.70sINFOcomponent_container_isolated-2process started with pid [7700] ×2 + 4.70sINFOstatic_transform_publisher-3process started with pid [7701] ×2 + 4.70sINFOstatic_transform_publisher-4process started with pid [7702] ×2 + 4.70sINFOodom_qos_relay.py-5process started with pid [7703] ×2 + 4.70sINFOforward_stereo_publisher.py-6process started with pid [7704] ×2 + 4.70sINFOlidar_flattener.py-7process started with pid [7705] ×2 + 4.70sINFOstatic_transform_publisher-8process started with pid [7706] ×2 + 4.70sINFOstatic_transform_publisher-9process started with pid [7707] ×2 + 4.70sINFOscan_to_scan_filter_chain-10process started with pid [7789] ×2 + 4.70sINFOscan_to_scan_filter_chain-11process started with pid [7790] ×2 + 4.71sINFOros2-13process started with pid [7792] ×2 + 4.71sINFOros2-14process started with pid [7793] ×2 + 4.71sINFOros2-15process started with pid [7794] ×2 + 4.71sINFOros2-16process started with pid [7797] ×2 + 4.71sINFOros2-17process started with pid [7798] ×2 + 4.71sINFOros2-18process started with pid [7799] ×2 + 4.71sINFOros2-19process started with pid [7800] ×2 + 4.71sINFOros2-20process started with pid [7801] ×2 + 4.71sINFOros2-21process started with pid [7806] ×2 + 4.71sINFOros2-22process started with pid [7807] ×2 + 4.71sINFOros2-23process started with pid [7808] ×2 + 4.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.73sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.73sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.73sINFOcontroller_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. + 4.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.75sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.75sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.76sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.76sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.76sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.76sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.77sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.77sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.77sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.77sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.77sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.77sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.77sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.77sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.77sWARNros2_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 + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798041 ms (missed cycles : 3).[0m ×2 + 4.80sINFOcontroller_serverCreating controller server + 4.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.83sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.83sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.87sINFOlocal_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. + 4.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.87sINFOlocal_costmap.local_costmapCreating Costmap + 4.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.88sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.88sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.88sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.92sINFOsmoother_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. + 4.94sINFOmap_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. + 4.94sINFOmap_serverCreating + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.95sINFOsmoother_serverCreating smoother server + 4.95sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.96sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.96sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 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. + 5.01sINFOrobot_state_publisherRobot initialized + 5.01sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.01sINFOcontroller_managerReceived robot description from topic. + 5.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.01sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.01sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.02sINFOplanner_serverCreating + 5.02sINFOvideo_server2026/09/10 02:57:21 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.02sINFOvideo_server2026/09/10 02:57:21 INF configuration loaded from /tmp/moveit-webrtc-zy6rnfgv/mediamtx.yml ×2 + 5.03sINFOvideo_server2026/09/10 02:57:21 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.03sINFOvideo_server2026/09/10 02:57:21 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.06sINFOglobal_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. + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.07sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.08sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.08sINFOglobal_costmap.global_costmapCreating Costmap + 5.09sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.09sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.11sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.15sINFOlifecycle_manager_localizationCreating + 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[1mCreating and initializing lifecycle service clients[0m[0m + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.18sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.18sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.18sINFOmap_serverConfiguring + 5.21sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.21sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.22sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.22sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.28sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.28sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.28sINFOamclConfiguring + 5.29sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.29sINFOmap_serverActivating + 5.29sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.30sINFObt_navigatorCreating + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.37sINFOwaypoint_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. + 5.37sINFOwaypoint_followerCreating + 5.38sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.41sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.41sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.41sINFOamclActivating + 5.41sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.41sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 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. + 5.42sINFOamclSubscribed to map_topic: /map + 5.42sINFOamclSubscribed to scan_topic: /scan_merged + 5.42sINFOamclCreated reinitialize_global_localization service + 5.43sINFOamclCreated request_nomotion_update service + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.43sINFOamclA new map was received + 5.43sINFOamclInitializing particle filter instance + 5.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.44sWARNlaser_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. + 5.44sWARNscan_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 + 5.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.46sINFOlifecycle_manager_navigationCreating + 5.46sWARNlaser_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. + 5.47sINFOlifecycle_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 + 5.52sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.52sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.52sINFOcontroller_serverConfiguring controller interface + 5.52sINFOcontroller_servergetting progress checker plugins.. + 5.52sINFOcontroller_servergetting goal checker plugins.. + 5.52sINFOcontroller_serverController frequency set to 20.0000Hz + 5.52sINFOlocal_costmap.local_costmapConfiguring + 5.54sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.56sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.59sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.59sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.60sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.64sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.64sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.555733 seconds + 5.64sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.64sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.64sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.64sINFOmove_groupLoaded robot model in 0.555733 seconds[0m ×2 + 5.64sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.64sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.65sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.66sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.68sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210363 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210363 ms (missed cycles : 2).[0m ×2 + 5.70sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.70sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.70sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.70sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.70sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.71sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.71sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.71sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.72sINFOcontroller_serverOptimizer reset ×2 + 5.74sINFOcontroller_serverController Server has FollowPath controllers available. + 5.76sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.76sINFOsmoother_serverConfiguring smoother server + 5.77sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.79sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.81sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.81sINFOplanner_serverConfiguring + 5.81sINFOglobal_costmap.global_costmapConfiguring + 5.83sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.85sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.85sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.85sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.86sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.86sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.86sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.94sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.94sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.95sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.95sINFOamclParticle filter initialization completed + 5.95sINFOamclInitializing particles from estimated pose and covariance + 5.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.97sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.97sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.97sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.01sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.01sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.02sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.03sINFOplanner_serverPlanner Server has GridBased planners available. + 6.06sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.06sINFObehavior_serverConfiguring + 6.06sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.07sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.07sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.08sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.08sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.09sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.10sINFObehavior_serverConfiguring spin + 6.12sINFObehavior_serverConfiguring backup + 6.12sINFObehavior_serverConfiguring drive_on_heading + 6.13sINFObehavior_serverConfiguring assisted_teleop + 6.16sINFObehavior_serverConfiguring wait + 6.18sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.18sINFObt_navigatorConfiguring + 6.19sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.20sWARNbt_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 + 6.32sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.37sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.37sINFOwaypoint_followerConfiguring + 6.40sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.41sINFOvelocity_smootherConfiguring velocity smoother + 6.42sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.42sINFOcontroller_serverActivating + 6.42sINFOlocal_costmap.local_costmapActivating + 6.42sINFOlocal_costmap.local_costmapChecking transform + 6.42sINFOlocal_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. ×7 + 6.44sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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. + 6.44sWARNmove_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. + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.48sINFOwaypoint_manager_nodeLoaded robot model in 0.380231 seconds[0m ×2 + 6.48sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.48sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.67sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.67sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.67sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.67sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.69sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.69sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.70sINFOmove_group[2026-09-10 02:57:23.670] [moveit_pro_license] [info] ×2 + 6.70sINFOmove_group************************************************* ×4 + 6.70sINFOmove_group* MoveIt Pro License ×2 + 6.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498408 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498408 ms (missed cycles : 2).[0m ×2 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.94sWARNwaypoint_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. + 6.94sWARNwaypoint_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. + 6.94sWARNwaypoint_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 + 6.94sWARNwaypoint_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 + 6.94sWARNwaypoint_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 + 6.94sWARNwaypoint_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 + 6.94sWARNwaypoint_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. + 6.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.96sWARNwaypoint_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. + 6.96sWARNwaypoint_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 + 6.96sWARNwaypoint_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. + 6.96sWARNwaypoint_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 + 6.96sWARNwaypoint_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. + 6.96sWARNwaypoint_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 + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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 + 6.97sWARNwaypoint_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. + 6.97sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_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 + 6.98sWARNwaypoint_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. + 6.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.20sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.20sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.20sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.20sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.20sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.20sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.20sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.20sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.20sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.20sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.20sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.20sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.20sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.20sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.21sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.21sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.21sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.21sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.21sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.21sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.34sINFOwaypoint_manager_node[2026-09-10 02:57:24.310] [moveit_pro_license] [info] ×2 + 7.34sINFOwaypoint_manager_node************************************************* ×4 + 7.34sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.34sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.54sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.54sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.54sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.54sWARNros2_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 + 7.54sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.54sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.54sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.54sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.54sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.54sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.54sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.54sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.54sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.54sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.54sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.54sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 7.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 7.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.71sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.71sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.71sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.71sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.72sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.73sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.73sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.75sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.84sINFOros2_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 + 7.84sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.84sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.86sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.88sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.88sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.88sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.88sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.89sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.89sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.89sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.89sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.89sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.89sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.01sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.01sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.01sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.01sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.02sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 8.02sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 8.04sINFOros2-19process has finished cleanly [pid 7800] ×2 + 8.08sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.08sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.09sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.09sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.15sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019410 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019410 ms (missed cycles : 2).[0m ×2 + 8.17sINFOstreaming_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) + 8.17sINFOcomponent_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 + 8.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.26sINFOobjective_server_node[2026-09-10 02:57:25.229] [moveit_pro_license] [info] ×2 + 8.26sINFOobjective_server_node************************************************* ×4 + 8.26sINFOobjective_server_node* MoveIt Pro License ×2 + 8.26sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.33sINFOobjective_server_nodeLoaded robot model in 0.0312015 seconds[0m ×2 + 8.34sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.34sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.42sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.42sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.44sWARNcomponent_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 + 8.46sINFOros2-14process has finished cleanly [pid 7793] ×2 + 8.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 8.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 8.56sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.63sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.63sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.77sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.77sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.77sWARNobjective_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. + 8.77sWARNobjective_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. + 8.77sWARNobjective_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 + 8.77sWARNobjective_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. + 8.77sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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 + 8.81sINFOcomponent_container_mtLoaded robot model in 0.374889 seconds[0m ×2 + 8.81sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.81sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.85sINFOobjective_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 + 8.85sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.87sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.87sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.87sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.87sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.87sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.87sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.87sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.07sINFOmove_groupMoveGroup debug mode is ON + 9.07sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.07sINFOros2_control_node[2026-09-10 02:57:26.041] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.07sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.08sINFOros2_control_node[2026-09-10 02:57:26.045] [info] Controller state will be published at 10 Hz. ×2 + 9.08sINFOros2_control_node[2026-09-10 02:57:26.047] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.13sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205254 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205254 ms (missed cycles : 2).[0m ×2 + 9.20sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.20sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.23sINFOmove_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
********************************************************
+ 9.23sINFOmove_group ×8 + 9.23sINFOmove_group******************************************************** ×4 + 9.23sINFOmove_group* MoveGroup using: ×2 + 9.23sINFOmove_group* - apply_planning_scene_service ×2 + 9.23sINFOmove_group* - clear_octomap_service ×2 + 9.23sINFOmove_group* - get_group_urdf ×2 + 9.23sINFOmove_group* - load_geometry_from_file ×2 + 9.23sINFOmove_group* - get_planning_scene_service ×2 + 9.23sINFOmove_group* - kinematics_service ×2 + 9.23sINFOmove_group* - save_geometry_to_file ×2 + 9.23sINFOmove_group* - GetPlanningGroups ×2 + 9.23sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.23sINFOmove_group[0m ×2 + 9.23sINFOmove_group[92mYou can start planning now![0m ×2 + 9.26sWARNplanning_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. + 9.26sWARNplanning_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. + 9.26sWARNcomponent_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 + 9.26sWARNcomponent_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 + 9.26sWARNplanning_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. + 9.26sWARNplanning_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. + 9.26sWARNcomponent_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 + 9.26sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNplanning_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. + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.27sWARNplanning_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. + 9.27sWARNplanning_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. + 9.27sWARNcomponent_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 + 9.28sWARNcomponent_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 + 9.28sWARNplanning_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. + 9.28sWARNcomponent_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 + 9.28sWARNplanning_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. + 9.28sWARNcomponent_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 + 9.28sWARNplanning_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. + 9.28sWARNcomponent_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 + 9.28sWARNplanning_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. + 9.28sWARNcomponent_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 + 9.28sWARNplanning_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. + 9.28sWARNcomponent_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 + 9.28sWARNplanning_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. + 9.28sWARNcomponent_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 + 9.41sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.41sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.41sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.41sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.41sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 9.41sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 9.44sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.44sINFOros2-20process has finished cleanly [pid 7801] ×2 + 9.46sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.46sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.46sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.46sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.46sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.48sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.48sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.49sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.49sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 9.54sINFOcomponent_container_mt[2026-09-10 02:57:26.508] [moveit_pro_license] [info] ×2 + 9.54sINFOcomponent_container_mt************************************************* ×4 + 9.54sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.54sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.64sWARNros2_control_nodeCamera render tick took 1.03 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.67sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.67sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.67sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.67sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.79sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.79sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.79sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 9.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 9.81sINFOros2-17process has finished cleanly [pid 7798] ×2 + 9.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 9.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 9.92sINFOlocal_costmap.local_costmapstart + 9.92sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.92sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.93sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.02sWARNcontroller_serverParameter controller_server.verbose not found + 10.02sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.13sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.13sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.13sINFOsmoother_serverActivating + 10.13sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.17sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.17sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 10.17sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.17sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 10.18sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 10.18sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254713 ms (missed cycles : 3). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254713 ms (missed cycles : 3).[0m ×2 + 10.21sINFOros2-15process has finished cleanly [pid 7794] ×2 + 10.23sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.23sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.23sINFOplanner_serverActivating + 10.23sINFOglobal_costmap.global_costmapActivating + 10.23sINFOglobal_costmap.global_costmapChecking transform + 10.23sINFOglobal_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 + 10.24sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 10.24sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 10.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 10.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 10.24sINFOplatform_velocity_controller_nav2configure successful + 10.24sINFOros2_control_nodeconfigure successful[0m ×6 + 10.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.69 s); lidar_front (0.69 s); lidar_rear (0.69 s); wrist_camera (0.69 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.60sINFOros2-18process has finished cleanly [pid 7799] ×2 + 10.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 10.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 10.65sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789009046.665 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.69sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789009045.580 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.70sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.70sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.70sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.70sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.81sWARNobjective_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 + 11.04sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 5.067ms + 11.17sINFOros2_control_node[2026-09-10 02:57:28.137] [info] Controller state will be published at 20 Hz. ×2 + 11.17sINFOros2_control_node[2026-09-10 02:57:28.138] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.23sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789009048.157010, but only time 1789009048.326952 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024316 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024316 ms (missed cycles : 2).[0m ×2 + 11.27sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.49sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.49sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.49sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.49sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.49sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 11.49sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 11.52sINFOros2-23process has finished cleanly [pid 7808] ×2 + 11.55sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.55sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.55sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.55sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.73sINFOglobal_costmap.global_costmapstart + 11.97sINFOros2_control_node[2026-09-10 02:57:28.937] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.97sINFOros2_control_node[2026-09-10 02:57:28.939] [info] Controller state will be published at 10 Hz. ×2 + 11.97sINFOros2_control_node[2026-09-10 02:57:28.941] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.29sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 12.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.29sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664134 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664134 ms (missed cycles : 3).[0m ×2 + 12.33sINFOros2-21process has finished cleanly [pid 7806] ×2 + 12.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.34sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.34sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.78sINFOros2_control_node[2026-09-10 02:57:29.744] [info] Controller state will be published at 20 Hz. ×2 + 12.78sINFOros2_control_node[2026-09-10 02:57:29.745] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.79sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.79sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.89sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.89sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.89sINFObehavior_serverActivating + 12.89sINFObehavior_serverActivating spin + 12.89sINFObehavior_serverActivating backup + 12.89sINFObehavior_serverActivating drive_on_heading + 12.89sINFObehavior_serverActivating assisted_teleop + 12.89sINFObehavior_serverActivating wait + 12.89sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.00sINFObt_navigatorActivating + 13.08sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.12sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 13.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 13.16sINFOros2-22process has finished cleanly [pid 7807] ×2 + 13.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.18sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.18sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.18sINFOforce_torque_sensor_broadcasterconfigure successful + 13.19sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.19sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.19sINFOwaypoint_followerActivating + 13.19sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.19sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.19sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.29sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.29sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.29sINFOvelocity_smootherActivating + 13.29sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.40sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.40sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.40sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758073 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758073 ms (missed cycles : 2).[0m ×2 + 13.51sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.51sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.51sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.51sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.51sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp + 13.51sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dklwkscn --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_aku4ov_0 --params-file /tmp/launch_params_6oxg5ccp [0m ×2 + 13.55sINFOros2-13process has finished cleanly [pid 7792] ×2 + 13.58sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.58sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.58sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.58sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.59sINFOplatform_velocity_controllerconfigure successful + 13.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.59sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.59sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.92sINFOros2-16process has finished cleanly [pid 7797] ×2 + 14.65sWARNros2_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 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954318 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954318 ms (missed cycles : 3).[0m ×2 + 15.83sWARNros2_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 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 17.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 18.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.96sINFOobjective_server_nodecaller: ×10 + 18.96sINFOobjective_server_nodetype: 0 ×10 + 18.96sINFOobjective_server_nodename: "" ×10 + 18.96sINFOobjective_server_nodeinstance_id: "" ×10 + 18.96sINFOobjective_server_node ×10 + 19.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.00sINFOmove_groupClearing octomap...[0m ×2 + 19.00sINFOmove_groupOctomap cleared.[0m ×2 + 19.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 19.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 20.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 20.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 20.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.95sINFOobjective_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 + 20.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.97sWARNros2_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 + 20.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 21.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.7s | 3 errors · 283 warnings · 255 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.457ms + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.559ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548518 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548518 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.447ms + 1.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057461 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057461 ms (missed cycles : 3).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 2.75sINFOobjective_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 + 2.76sINFOjoint_trajectory_controllerGot request to cancel goal + 2.76sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.76sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.76sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.78sERRORobjective_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: 1789009266.86753702 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.472ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867690 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867690 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789009267.45251012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.807ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886397 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886397 ms (missed cycles : 3).[0m ×2 + 4.54sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285222 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285222 ms (missed cycles : 3).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082900 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082900 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701480 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701480 ms (missed cycles : 3).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.011ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333533 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333533 ms (missed cycles : 3).[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.130ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846851 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846851 ms (missed cycles : 3).[0m ×2 + 9.65sWARNros2_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 + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.211ms + 10.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926331 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926331 ms (missed cycles : 3).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 3013 particles 723 points - 6.478ms + 11.39sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 4.049ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080755 ms (missed cycles : 5). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080755 ms (missed cycles : 5).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.060ms + 12.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681155 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681155 ms (missed cycles : 2).[0m ×2 + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 13.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930685 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930685 ms (missed cycles : 3).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003966 ms (missed cycles : 4). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003966 ms (missed cycles : 4).[0m ×2 + 14.90sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms ×2 + 16.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529292 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529292 ms (missed cycles : 3).[0m ×2 + 16.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150354 ms (missed cycles : 4). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150354 ms (missed cycles : 4).[0m ×2 + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453096 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453096 ms (missed cycles : 3).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152131 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152131 ms (missed cycles : 2).[0m ×2 + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424159 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424159 ms (missed cycles : 3).[0m ×2 + 20.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708953 ms (missed cycles : 6). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708953 ms (missed cycles : 6).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 22.22sWARNros2_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 + 22.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419929 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419929 ms (missed cycles : 2).[0m ×2 + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.025ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 23.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366861 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366861 ms (missed cycles : 3).[0m ×2 + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991589 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991589 ms (missed cycles : 2).[0m ×2 + 25.86sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155786 ms (missed cycles : 4). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155786 ms (missed cycles : 4).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms ×2 + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147449 ms (missed cycles : 2). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147449 ms (missed cycles : 2).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 27.79sWARNros2_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 ×6 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229199 ms (missed cycles : 3). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229199 ms (missed cycles : 3).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785339 ms (missed cycles : 2). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785339 ms (missed cycles : 2).[0m ×2 + 29.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 30.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924348 ms (missed cycles : 3). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924348 ms (missed cycles : 3).[0m ×2 + 30.87sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690743 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690743 ms (missed cycles : 2).[0m ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737528 ms (missed cycles : 3). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737528 ms (missed cycles : 3).[0m ×2 + 33.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570432 ms (missed cycles : 4). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570432 ms (missed cycles : 4).[0m ×2 + 34.33sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.33sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 34.88sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538437 ms (missed cycles : 5). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538437 ms (missed cycles : 5).[0m ×2 + 35.90sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248523 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248523 ms (missed cycles : 2).[0m ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588500 ms (missed cycles : 3). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588500 ms (missed cycles : 3).[0m ×2 + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544862 ms (missed cycles : 2). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544862 ms (missed cycles : 2).[0m ×2 + 38.58sWARNros2_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 + 38.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 39.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042129 ms (missed cycles : 4). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042129 ms (missed cycles : 4).[0m ×2 + 39.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627508 ms (missed cycles : 3). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627508 ms (missed cycles : 3).[0m ×2 + 40.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874326 ms (missed cycles : 3). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874326 ms (missed cycles : 3).[0m ×2 + 42.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 42.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236646 ms (missed cycles : 2). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236646 ms (missed cycles : 2).[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523862 ms (missed cycles : 3). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523862 ms (missed cycles : 3).[0m ×2 + 44.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 44.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857937 ms (missed cycles : 3). + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857937 ms (missed cycles : 3).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650962 ms (missed cycles : 2). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650962 ms (missed cycles : 2).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231857 ms (missed cycles : 3). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231857 ms (missed cycles : 3).[0m ×2 + 47.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418959 ms (missed cycles : 4). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418959 ms (missed cycles : 4).[0m ×2 + 49.14sWARNros2_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 + 49.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197584 ms (missed cycles : 3). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197584 ms (missed cycles : 3).[0m ×2 + 49.59sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 50.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415088 ms (missed cycles : 4). + 50.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415088 ms (missed cycles : 4).[0m ×2 + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662323 ms (missed cycles : 3). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662323 ms (missed cycles : 3).[0m ×2 + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029811 ms (missed cycles : 2). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029811 ms (missed cycles : 2).[0m ×2 + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186191 ms (missed cycles : 2). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186191 ms (missed cycles : 2).[0m ×2 + 54.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 54.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 54.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476676 ms (missed cycles : 4). + 54.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476676 ms (missed cycles : 4).[0m ×2 + 55.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 56.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712192 ms (missed cycles : 2). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712192 ms (missed cycles : 2).[0m ×2 + 56.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311195 ms (missed cycles : 2). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311195 ms (missed cycles : 2).[0m ×2 + 58.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534434 ms (missed cycles : 2). + 58.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534434 ms (missed cycles : 2).[0m ×2 + 58.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 59.19sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 59.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213634 ms (missed cycles : 4). + 59.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213634 ms (missed cycles : 4).[0m ×2 + 59.75sWARNros2_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 + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915445 ms (missed cycles : 2). + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915445 ms (missed cycles : 2).[0m ×2 + 61.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356825 ms (missed cycles : 3). + 61.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356825 ms (missed cycles : 3).[0m ×2 + 62.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654806 ms (missed cycles : 4). + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654806 ms (missed cycles : 4).[0m ×2 + 63.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288929 ms (missed cycles : 3). + 63.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288929 ms (missed cycles : 3).[0m ×2 + 64.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 64.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042299 ms (missed cycles : 2). + 64.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042299 ms (missed cycles : 2).[0m ×2 + 65.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962565 ms (missed cycles : 3). + 65.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962565 ms (missed cycles : 3).[0m ×2 + 66.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 66.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106106 ms (missed cycles : 3). + 66.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106106 ms (missed cycles : 3).[0m ×2 + 67.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 67.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455021 ms (missed cycles : 3). + 67.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455021 ms (missed cycles : 3).[0m ×2 + 68.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 68.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789009332.60267305 seconds ×3 + 68.60sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.60sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567232 ms (missed cycles : 3). + 68.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567232 ms (missed cycles : 3).[0m ×2 + 69.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.05sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789009333.17682362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.10sWARNlocal_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. ×6 + 69.10sWARNlocal_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. ×6 + 69.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.363ms + 70.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672430 ms (missed cycles : 2). + 70.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672430 ms (missed cycles : 2).[0m ×2 + 70.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 71.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139540 ms (missed cycles : 2). + 71.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139540 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 244 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_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 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.97sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.32sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225458 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225458 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919096 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919096 ms (missed cycles : 3).[0m ×2 + 8.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.543ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965703 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965703 ms (missed cycles : 2).[0m ×2 + 9.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.031ms + 9.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.660ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144526 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144526 ms (missed cycles : 2).[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.970ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723718 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723718 ms (missed cycles : 2).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.975ms + 11.38sWARNros2_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 + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.894ms + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135743 ms (missed cycles : 4). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135743 ms (missed cycles : 4).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.653ms + 12.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.345ms + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518719 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518719 ms (missed cycles : 3).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.211ms + 13.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 13.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.615ms + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507098 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507098 ms (missed cycles : 3).[0m ×2 + 14.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 15.08sINFOamclParticle filter update iteration stats: 4962 particles 723 points - 8.248ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768320 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768320 ms (missed cycles : 3).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 3866 particles 723 points - 7.283ms + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673753 ms (missed cycles : 5). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673753 ms (missed cycles : 5).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 6.338ms + 16.85sWARNros2_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 + 16.88sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 3.131ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154538 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154538 ms (missed cycles : 2).[0m ×2 + 17.47sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.789ms + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.252ms + 18.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521638 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521638 ms (missed cycles : 3).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 19.27sWARNros2_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 + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.375ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458399 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458399 ms (missed cycles : 3).[0m ×2 + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298834 ms (missed cycles : 4). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298834 ms (missed cycles : 4).[0m ×2 + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.364ms + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117975 ms (missed cycles : 3). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117975 ms (missed cycles : 3).[0m ×2 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631150 ms (missed cycles : 4). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631150 ms (missed cycles : 4).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968601 ms (missed cycles : 3). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968601 ms (missed cycles : 3).[0m ×2 + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 24.76sWARNros2_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 + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.410ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230122 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230122 ms (missed cycles : 3).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607613 ms (missed cycles : 3). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607613 ms (missed cycles : 3).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209489 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209489 ms (missed cycles : 2).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 27.78sWARNros2_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 + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918848 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918848 ms (missed cycles : 3).[0m ×2 + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 29.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538458 ms (missed cycles : 2). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538458 ms (missed cycles : 2).[0m ×2 + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956629 ms (missed cycles : 3). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956629 ms (missed cycles : 3).[0m ×2 + 30.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 30.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758797 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758797 ms (missed cycles : 2).[0m ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973842 ms (missed cycles : 3). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973842 ms (missed cycles : 3).[0m ×2 + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 33.35sWARNros2_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 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241856 ms (missed cycles : 2). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241856 ms (missed cycles : 2).[0m ×2 + 34.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 34.38sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998172 ms (missed cycles : 3). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998172 ms (missed cycles : 3).[0m ×2 + 35.29sWARNros2_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 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353658 ms (missed cycles : 3). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353658 ms (missed cycles : 3).[0m ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696354 ms (missed cycles : 4). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696354 ms (missed cycles : 4).[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124606 ms (missed cycles : 4). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124606 ms (missed cycles : 4).[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921632 ms (missed cycles : 2). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921632 ms (missed cycles : 2).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443782 ms (missed cycles : 4). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443782 ms (missed cycles : 4).[0m ×2 + 40.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462143 ms (missed cycles : 2). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462143 ms (missed cycles : 2).[0m ×2 + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751266 ms (missed cycles : 2). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751266 ms (missed cycles : 2).[0m ×2 + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535027 ms (missed cycles : 5). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535027 ms (missed cycles : 5).[0m ×2 + 43.46sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131609 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131609 ms (missed cycles : 2).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063151 ms (missed cycles : 4). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063151 ms (missed cycles : 4).[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850236 ms (missed cycles : 3). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850236 ms (missed cycles : 3).[0m ×2 + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619405 ms (missed cycles : 5). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619405 ms (missed cycles : 5).[0m ×2 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327006 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327006 ms (missed cycles : 2).[0m ×2 + 49.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369765 ms (missed cycles : 3). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369765 ms (missed cycles : 3).[0m ×2 + 50.36sWARNros2_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 + 50.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813730 ms (missed cycles : 2). + 50.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813730 ms (missed cycles : 2).[0m ×2 + 51.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936024 ms (missed cycles : 4). + 51.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936024 ms (missed cycles : 4).[0m ×2 + 52.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.388116 ms (missed cycles : 5). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.388116 ms (missed cycles : 5).[0m ×2 + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646513 ms (missed cycles : 4). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646513 ms (missed cycles : 4).[0m ×2 + 54.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483372 ms (missed cycles : 2). + 54.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483372 ms (missed cycles : 2).[0m ×2 + 55.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742681 ms (missed cycles : 3). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742681 ms (missed cycles : 3).[0m ×2 + 55.95sWARNros2_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 + 57.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961643 ms (missed cycles : 2). + 57.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961643 ms (missed cycles : 2).[0m ×2 + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894489 ms (missed cycles : 3). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894489 ms (missed cycles : 3).[0m ×2 + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113400 ms (missed cycles : 4). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113400 ms (missed cycles : 4).[0m ×2 + 60.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789009396.46942043 seconds ×3 + 60.15sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.15sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179675 ms (missed cycles : 2). + 60.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179675 ms (missed cycles : 2).[0m ×2 + 60.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 60.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789009397.06482720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.728ms + 61.01sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 61.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342264 ms (missed cycles : 5). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342264 ms (missed cycles : 5).[0m ×2 + 61.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779910 ms (missed cycles : 2). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779910 ms (missed cycles : 2).[0m ×2 + 63.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923060 ms (missed cycles : 2). + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923060 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 251 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692105 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692105 ms (missed cycles : 5).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252009 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252009 ms (missed cycles : 2).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789009107.68771219 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470344 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470344 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789009108.25908899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 4.15sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.298ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380339 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380339 ms (missed cycles : 4).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802593 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802593 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.41sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092844 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092844 ms (missed cycles : 4).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634959 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634959 ms (missed cycles : 2).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 3.113ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938093 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938093 ms (missed cycles : 2).[0m ×2 + 9.21sWARNros2_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 + 9.80sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.096ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033027 ms (missed cycles : 3). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033027 ms (missed cycles : 3).[0m ×2 + 10.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.36sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.938ms + 10.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217700 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217700 ms (missed cycles : 2).[0m ×2 + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663967 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663967 ms (missed cycles : 3).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250916 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250916 ms (missed cycles : 2).[0m ×2 + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892300 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892300 ms (missed cycles : 2).[0m ×2 + 14.46sWARNros2_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 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 15.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951295 ms (missed cycles : 5). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951295 ms (missed cycles : 5).[0m ×2 + 15.65sWARNros2_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 + 15.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747509 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747509 ms (missed cycles : 3).[0m ×2 + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230607 ms (missed cycles : 4). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230607 ms (missed cycles : 4).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865792 ms (missed cycles : 3). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865792 ms (missed cycles : 3).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060969 ms (missed cycles : 4). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060969 ms (missed cycles : 4).[0m ×2 + 19.79sWARNros2_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 ×8 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978537 ms (missed cycles : 2). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978537 ms (missed cycles : 2).[0m ×2 + 21.04sWARNros2_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 + 21.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.240ms ×2 + 21.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786400 ms (missed cycles : 3). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786400 ms (missed cycles : 3).[0m ×2 + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223007 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223007 ms (missed cycles : 2).[0m ×2 + 22.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607308 ms (missed cycles : 2). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607308 ms (missed cycles : 2).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 24.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155935 ms (missed cycles : 5). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155935 ms (missed cycles : 5).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367276 ms (missed cycles : 5). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367276 ms (missed cycles : 5).[0m ×2 + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 26.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795346 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795346 ms (missed cycles : 3).[0m ×2 + 27.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119719 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119719 ms (missed cycles : 2).[0m ×2 + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852468 ms (missed cycles : 3). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852468 ms (missed cycles : 3).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.526ms + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758647 ms (missed cycles : 3). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758647 ms (missed cycles : 3).[0m ×2 + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639394 ms (missed cycles : 3). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639394 ms (missed cycles : 3).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 31.91sWARNros2_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 + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.654ms + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248319 ms (missed cycles : 5). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248319 ms (missed cycles : 5).[0m ×2 + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 33.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800626 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800626 ms (missed cycles : 2).[0m ×2 + 33.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092154 ms (missed cycles : 4). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092154 ms (missed cycles : 4).[0m ×2 + 34.82sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667756 ms (missed cycles : 3). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667756 ms (missed cycles : 3).[0m ×2 + 36.23sWARNros2_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 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244076 ms (missed cycles : 2). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244076 ms (missed cycles : 2).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669496 ms (missed cycles : 2). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669496 ms (missed cycles : 2).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571354 ms (missed cycles : 3). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571354 ms (missed cycles : 3).[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310984 ms (missed cycles : 2). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310984 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478948 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478948 ms (missed cycles : 2).[0m ×2 + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715690 ms (missed cycles : 2). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715690 ms (missed cycles : 2).[0m ×2 + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.608ms + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064745 ms (missed cycles : 5). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064745 ms (missed cycles : 5).[0m ×2 + 43.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052473 ms (missed cycles : 5). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052473 ms (missed cycles : 5).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028270 ms (missed cycles : 2). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028270 ms (missed cycles : 2).[0m ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151051 ms (missed cycles : 4). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151051 ms (missed cycles : 4).[0m ×2 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943635 ms (missed cycles : 4). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943635 ms (missed cycles : 4).[0m ×2 + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596928 ms (missed cycles : 2). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596928 ms (missed cycles : 2).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485603 ms (missed cycles : 3). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485603 ms (missed cycles : 3).[0m ×2 + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956676 ms (missed cycles : 5). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956676 ms (missed cycles : 5).[0m ×2 + 50.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032650 ms (missed cycles : 3). + 50.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032650 ms (missed cycles : 3).[0m ×2 + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177083 ms (missed cycles : 2). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177083 ms (missed cycles : 2).[0m ×2 + 52.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.248ms + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567561 ms (missed cycles : 3). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567561 ms (missed cycles : 3).[0m ×2 + 54.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 54.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502194 ms (missed cycles : 3). + 54.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502194 ms (missed cycles : 3).[0m ×2 + 55.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780531 ms (missed cycles : 3). + 55.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780531 ms (missed cycles : 3).[0m ×2 + 56.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 56.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224405 ms (missed cycles : 2). + 56.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224405 ms (missed cycles : 2).[0m ×2 + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2). + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2).[0m ×2 + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4).[0m ×2 + 59.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2).[0m ×2 + 60.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 60.41sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789009164.96922398 seconds ×3 + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3).[0m ×2 + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789009165.55611658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.41sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 61.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 61.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2). + 61.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2).[0m ×2 + 62.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3). + 62.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3).[0m ×2 + 63.69sWARNros2_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 ×2 + 63.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2). + 63.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.9s | 253 warnings · 219 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.693ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.661ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789009204.05473089 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNlocal_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. ×5 + 3.26sWARNlocal_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. ×5 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3).[0m ×2 + 3.76sWARNlocal_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 + 3.76sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789009204.63625312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.108ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_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 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.50sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.50sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.50sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364414 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364414 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642518 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642518 ms (missed cycles : 3).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.772ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489354 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489354 ms (missed cycles : 3).[0m ×2 + 9.99sWARNros2_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 + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.856ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.741ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932577 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932577 ms (missed cycles : 2).[0m ×2 + 11.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.654ms + 11.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.639ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044141 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044141 ms (missed cycles : 2).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.805ms + 12.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.035ms + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401243 ms (missed cycles : 5). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401243 ms (missed cycles : 5).[0m ×2 + 13.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.871ms + 14.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.428ms + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455648 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455648 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.556ms + 15.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086196 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086196 ms (missed cycles : 2).[0m ×2 + 15.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.756ms + 16.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×8 + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.635ms + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126710 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126710 ms (missed cycles : 2).[0m ×2 + 17.14sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 7.894ms + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319640 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319640 ms (missed cycles : 2).[0m ×2 + 17.72sINFOamclParticle filter update iteration stats: 3170 particles 723 points - 6.946ms + 18.32sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 5.658ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947999 ms (missed cycles : 3). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947999 ms (missed cycles : 3).[0m ×2 + 18.92sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 4.346ms + 19.50sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.904ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140036 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140036 ms (missed cycles : 3).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms ×3 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730762 ms (missed cycles : 3). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730762 ms (missed cycles : 3).[0m ×2 + 20.71sWARNros2_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 ×6 + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331352 ms (missed cycles : 5). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331352 ms (missed cycles : 5).[0m ×2 + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061226 ms (missed cycles : 2). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061226 ms (missed cycles : 2).[0m ×2 + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960820 ms (missed cycles : 5). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960820 ms (missed cycles : 5).[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456287 ms (missed cycles : 4). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456287 ms (missed cycles : 4).[0m ×2 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866114 ms (missed cycles : 4). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866114 ms (missed cycles : 4).[0m ×2 + 26.30sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315541 ms (missed cycles : 4). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315541 ms (missed cycles : 4).[0m ×2 + 27.60sWARNros2_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 + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms ×2 + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254693 ms (missed cycles : 2). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254693 ms (missed cycles : 2).[0m ×2 + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676885 ms (missed cycles : 2). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676885 ms (missed cycles : 2).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059124 ms (missed cycles : 3). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059124 ms (missed cycles : 3).[0m ×2 + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 31.33sWARNros2_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 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615757 ms (missed cycles : 3). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615757 ms (missed cycles : 3).[0m ×2 + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108849 ms (missed cycles : 2). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108849 ms (missed cycles : 2).[0m ×2 + 33.21sWARNros2_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 + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 33.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088605 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088605 ms (missed cycles : 2).[0m ×2 + 33.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684150 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684150 ms (missed cycles : 2).[0m ×2 + 35.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445038 ms (missed cycles : 6). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445038 ms (missed cycles : 6).[0m ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148577 ms (missed cycles : 3). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148577 ms (missed cycles : 3).[0m ×2 + 37.89sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.29sWARNros2_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 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652449 ms (missed cycles : 3). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652449 ms (missed cycles : 3).[0m ×2 + 38.62sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229987 ms (missed cycles : 2). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229987 ms (missed cycles : 2).[0m ×2 + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498914 ms (missed cycles : 3). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498914 ms (missed cycles : 3).[0m ×2 + 40.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 41.43sWARNros2_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 + 41.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262439 ms (missed cycles : 4). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262439 ms (missed cycles : 4).[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.810483 ms (missed cycles : 6). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.810483 ms (missed cycles : 6).[0m ×2 + 42.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625299 ms (missed cycles : 2). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625299 ms (missed cycles : 2).[0m ×2 + 43.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943048 ms (missed cycles : 5). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943048 ms (missed cycles : 5).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331794 ms (missed cycles : 5). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331794 ms (missed cycles : 5).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882200 ms (missed cycles : 5). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882200 ms (missed cycles : 5).[0m ×2 + 47.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.437ms + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925773 ms (missed cycles : 2). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925773 ms (missed cycles : 2).[0m ×2 + 48.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891330 ms (missed cycles : 3). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891330 ms (missed cycles : 3).[0m ×2 + 49.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607466 ms (missed cycles : 3). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607466 ms (missed cycles : 3).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 51.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363115 ms (missed cycles : 3). + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363115 ms (missed cycles : 3).[0m ×2 + 51.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921669 ms (missed cycles : 2). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921669 ms (missed cycles : 2).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302790 ms (missed cycles : 4). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302790 ms (missed cycles : 4).[0m ×2 + 53.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004004 ms (missed cycles : 5). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004004 ms (missed cycles : 5).[0m ×2 + 54.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 55.10sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789009255.92638493 seconds ×3 + 55.16sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.16sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969746 ms (missed cycles : 2). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969746 ms (missed cycles : 2).[0m ×2 + 55.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.64sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.68sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789009256.50699329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.69sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.601ms + 55.76sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 10.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.76sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 10.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.11sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 56.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.187ms + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258406 ms (missed cycles : 2). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258406 ms (missed cycles : 2).[0m ×2 + 57.45sWARNros2_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 + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006458 ms (missed cycles : 3). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006458 ms (missed cycles : 3).[0m ×2 + 58.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760194 ms (missed cycles : 3). + 58.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760194 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 181 warnings · 380 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.84sINFOobjective_server_nodecaller: ×12 + 0.84sINFOobjective_server_nodetype: 0 ×12 + 0.84sINFOobjective_server_nodename: "" ×12 + 0.84sINFOobjective_server_nodeinstance_id: "" ×12 + 0.84sINFOobjective_server_node ×12 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.88sINFOmove_groupClearing octomap...[0m ×2 + 0.88sINFOmove_groupOctomap cleared.[0m ×2 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 1.71sWARNros2_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 ×10 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892552 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892552 ms (missed cycles : 3).[0m ×2 + 6.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571698 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571698 ms (missed cycles : 3).[0m ×2 + 8.06sWARNros2_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 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889138 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889138 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821670 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821670 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313421 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313421 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548864 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548864 ms (missed cycles : 3).[0m ×2 + 12.05sWARNros2_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 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654096 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654096 ms (missed cycles : 3).[0m ×2 + 13.23sWARNros2_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 ×6 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018906 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018906 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.680ms + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163130 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163130 ms (missed cycles : 2).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967931 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967931 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537984 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537984 ms (missed cycles : 3).[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889983 ms (missed cycles : 3). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889983 ms (missed cycles : 3).[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496806 ms (missed cycles : 3). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496806 ms (missed cycles : 3).[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824319 ms (missed cycles : 4). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824319 ms (missed cycles : 4).[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008809 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008809 ms (missed cycles : 2).[0m ×2 + 22.48sWARNros2_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 + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383596 ms (missed cycles : 3). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383596 ms (missed cycles : 3).[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536073 ms (missed cycles : 4). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536073 ms (missed cycles : 4).[0m ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558090 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558090 ms (missed cycles : 3).[0m ×2 + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.586251 ms (missed cycles : 4). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.586251 ms (missed cycles : 4).[0m ×2 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773674 ms (missed cycles : 5). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773674 ms (missed cycles : 5).[0m ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103984 ms (missed cycles : 2). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103984 ms (missed cycles : 2).[0m ×2 + 28.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785303 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785303 ms (missed cycles : 3).[0m ×2 + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734667 ms (missed cycles : 3). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734667 ms (missed cycles : 3).[0m ×2 + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946978 ms (missed cycles : 3). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946978 ms (missed cycles : 3).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385763 ms (missed cycles : 3). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385763 ms (missed cycles : 3).[0m ×2 + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279796 ms (missed cycles : 2). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279796 ms (missed cycles : 2).[0m ×2 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221527 ms (missed cycles : 2). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221527 ms (missed cycles : 2).[0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872358 ms (missed cycles : 5). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872358 ms (missed cycles : 5).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186191 ms (missed cycles : 2). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186191 ms (missed cycles : 2).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268582 ms (missed cycles : 2). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268582 ms (missed cycles : 2).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183031 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183031 ms (missed cycles : 2).[0m ×2 + 39.18sWARNros2_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 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429489 ms (missed cycles : 3). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429489 ms (missed cycles : 3).[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083234 ms (missed cycles : 2). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083234 ms (missed cycles : 2).[0m ×2 + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417942 ms (missed cycles : 3). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417942 ms (missed cycles : 3).[0m ×2 + 42.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211644 ms (missed cycles : 2). + 43.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211644 ms (missed cycles : 2).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2).[0m ×2 + 46.46sINFOjoint_trajectory_controllerGoal reached, success! + 46.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789009101.56773186 seconds ×3 + 46.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.02sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789009102.14757919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 47.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3). + 47.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3).[0m ×2 + 48.15sINFOobjective_server_nodeFound path in 0 iterations (2.4981e-05 s). ×2 + 48.22sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3).[0m ×2 + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2). + 49.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2).[0m ×2 + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 160 warnings · 183 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060715 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060715 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871158 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871158 ms (missed cycles : 2).[0m ×2 + 1.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.96sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789009171.37626171 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439136 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439136 ms (missed cycles : 4).[0m ×2 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040493 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040493 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789009172.95459247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153711 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153711 ms (missed cycles : 5).[0m ×2 + 5.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495574 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495574 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005489 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005489 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366485 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366485 ms (missed cycles : 3).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.841ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358773 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358773 ms (missed cycles : 3).[0m ×2 + 9.04sWARNros2_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 ×8 + 9.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.930ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802228 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802228 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.776ms + 10.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.042ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891203 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891203 ms (missed cycles : 3).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.707ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721254 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721254 ms (missed cycles : 4).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.068ms + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.605ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402772 ms (missed cycles : 4). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402772 ms (missed cycles : 4).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 13.70sINFOamclParticle filter update iteration stats: 4962 particles 723 points - 7.566ms + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673252 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673252 ms (missed cycles : 2).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 6.838ms + 14.88sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 5.017ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932084 ms (missed cycles : 3). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932084 ms (missed cycles : 3).[0m ×2 + 15.47sWARNros2_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 + 15.48sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 4.961ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.058ms + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633744 ms (missed cycles : 2). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633744 ms (missed cycles : 2).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937469 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937469 ms (missed cycles : 2).[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329383 ms (missed cycles : 2). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329383 ms (missed cycles : 2).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375748 ms (missed cycles : 2). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375748 ms (missed cycles : 2).[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448325 ms (missed cycles : 3). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448325 ms (missed cycles : 3).[0m ×2 + 20.95sWARNros2_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 + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 21.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088976 ms (missed cycles : 4). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088976 ms (missed cycles : 4).[0m ×2 + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084555 ms (missed cycles : 4). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084555 ms (missed cycles : 4).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150557 ms (missed cycles : 4). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150557 ms (missed cycles : 4).[0m ×2 + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659855 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659855 ms (missed cycles : 3).[0m ×2 + 25.27sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.423ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543553 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543553 ms (missed cycles : 2).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 27.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428466 ms (missed cycles : 3). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428466 ms (missed cycles : 3).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359970 ms (missed cycles : 2). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359970 ms (missed cycles : 2).[0m ×2 + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 29.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313216 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313216 ms (missed cycles : 2).[0m ×2 + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773680 ms (missed cycles : 4). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773680 ms (missed cycles : 4).[0m ×2 + 30.74sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2).[0m ×2 + 32.04sWARNros2_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 + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3).[0m ×2 + 33.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.693ms + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4).[0m ×2 + 34.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.661ms + 34.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789009204.05473089 seconds ×3 + 34.67sWARNlocal_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. ×5 + 34.68sWARNlocal_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. ×5 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3).[0m ×2 + 35.17sWARNlocal_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 + 35.17sWARNlocal_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 + 35.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.22sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789009204.63625312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.61sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 35.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.108ms + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2).[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2).[0m ×2 + 37.47sWARNros2_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 + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.5s | 100 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961643 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961643 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894489 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894489 ms (missed cycles : 3).[0m ×2 + 2.06sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113400 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113400 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789009396.46942043 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179675 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179675 ms (missed cycles : 2).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789009397.06482720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.728ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342264 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342264 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779910 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779910 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923060 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923060 ms (missed cycles : 2).[0m ×2 + 7.24sWARNros2_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 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968031 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968031 ms (missed cycles : 4).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159166 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159166 ms (missed cycles : 2).[0m ×2 + 9.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057320 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057320 ms (missed cycles : 3).[0m ×2 + 9.96sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.12sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×4 + 10.32sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 10.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489644 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489644 ms (missed cycles : 4).[0m ×2 + 10.73sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 11.18sINFOobjective_server_nodeFound path in 33 iterations (0.0371477 s). ×2 + 11.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (6.74e-07 s). ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026195 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026195 ms (missed cycles : 2).[0m ×2 + 12.36sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450945 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450945 ms (missed cycles : 3).[0m ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.51sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767019 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767019 ms (missed cycles : 2).[0m ×2 + 14.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076562 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076562 ms (missed cycles : 2).[0m ×2 + 15.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.112ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467766 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467766 ms (missed cycles : 3).[0m ×2 + 17.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.584ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917136 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917136 ms (missed cycles : 3).[0m ×2 + 17.58sWARNros2_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 + 17.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.089ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2).[0m ×2 + 18.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.473ms + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 19.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789009412.94124937 seconds ×3 + 20.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009413.55277443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.12sINFOmove_groupClearing octomap...[0m ×2 + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.12sINFOmove_groupOctomap cleared.[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3).[0m ×2 + 20.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.378ms + 20.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009414.25290728 seconds ×3 + 21.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4).[0m ×2 + 21.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009414.82364774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009415.38378263 seconds ×3 + 22.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2).[0m ×2 + 23.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 102 errors · 40 warnings · 517 info |
+ 0.00sWARNros2_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 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.089ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.473ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! + 1.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789009412.94124937 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 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 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.47sINFOobjective_server_nodecaller: ×4 + 2.47sINFOobjective_server_nodetype: 0 ×4 + 2.47sINFOobjective_server_nodename: "" ×4 + 2.47sINFOobjective_server_nodeinstance_id: "" ×4 + 2.47sINFOobjective_server_node ×4 + 2.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009413.55277443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3).[0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.378ms + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009414.25290728 seconds ×3 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009414.82364774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009415.38378263 seconds ×3 + 4.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2).[0m ×2 + 5.43sWARNros2_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 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082159 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082159 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196655 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196655 ms (missed cycles : 2).[0m ×2 + 7.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803798 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803798 ms (missed cycles : 2).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909364 ms (missed cycles : 3). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909364 ms (missed cycles : 3).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989958 ms (missed cycles : 3). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989958 ms (missed cycles : 3).[0m ×2 + 10.43sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.47sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORweb_video_auth_proxy-38process has died [pid 7925, 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 + 10.47sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.48sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.48sERRORweb_bridge_auth_proxy-37process has died [pid 7913, 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 + 10.49sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.50sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.51sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.51sINFOvideo_server-36process has finished cleanly [pid 7891] ×2 + 10.52sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.53sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.54sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.55sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.56sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.57sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.58sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.60sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.61sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.62sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.63sINFOcontroller_managerShutdown request received.... + 10.63sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.63sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.63sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.63sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.63sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.63sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.63sINFOcontroller_managerShutting down the controller manager. + 10.64sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.65sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.66sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.66sERRORmove_group-24process has died [pid 7818, 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_2mzgmsfk --params-file /tmp/launch_params_k1g55kjw --params-file /tmp/launch_params_xupirl8w --params-file /tmp/launch_params_n9_yoyex --params-file /tmp/launch_params_xo3iye1w --params-file /tmp/launch_params_96gt38rv']. ×2 + 10.66sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.67sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.68sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.69sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.79sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.80sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.81sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.81sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.81sINFOmap_serverDeactivating + 10.81sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.82sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.82sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.82sINFOcontroller_serverDeactivating + 10.82sINFOlocal_costmap.local_costmapDeactivating + 10.82sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.82sINFOvideo_server2026/09/10 03:03:41 INF shutting down gracefully ×2 + 10.82sINFOvideo_server2026/09/10 03:03:41 INF [WebRTC] closing ×2 + 10.82sINFOvideo_server2026/09/10 03:03:41 INF [RTSP] closing ×2 + 10.82sINFOvideo_server2026/09/10 03:03:41 INF waiting for running hooks ×2 + 10.82sINFOmap_serverCleaning up + 10.82sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.82sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.82sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.82sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.82sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.82sERRORmove_groupStack trace (most recent call last) in thread 8494: ×2 + 10.82sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.82sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd541a99a63, in __clone ×2 + 10.82sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd541a0caa3, in ×2 + 10.82sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd541c9edb3, in ×2 + 10.82sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fd542402b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.82sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd542030620, in rclcpp::Rate::sleep() ×2 + 10.82sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd541f72d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.82sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd541f34087, in ×2 + 10.82sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd541c6d390, in __cxa_throw ×2 + 10.82sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd541c57a54, in std::terminate() ×2 + 10.82sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd541c6d0d9, in ×2 + 10.82sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd541c57ff4, in ×2 + 10.82sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd5419988fe, in abort ×2 + 10.82sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd5419b527d, in raise ×2 + 10.82sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd541a0eb2c, in pthread_kill ×2 + 10.82sERRORmove_groupAborted (Signal sent by tkill() 7818 0) ×2 + 10.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.83sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.83sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.83sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.83sINFOodom_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 + 10.83sINFOodom_qos_relay.pymain() ×2 + 10.83sINFOodom_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 + 10.83sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.83sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.83sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.83sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.83sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.83sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.83sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.84sERRORamclThe bond connection to the lifecycle manager has been broken + 10.84sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.84sINFOros2_control_nodepublish_async_failures_ 3[0m ×4 + 10.87sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.88sINFOcontroller_serverCleaning up + 10.88sINFOlocal_costmap.local_costmapCleaning up + 10.93sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.93sINFOsmoother_serverDeactivating + 10.93sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.94sINFOsmoother_serverCleaning up + 10.95sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.95sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.95sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.95sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.95sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.95sINFOvelocity_smootherDeactivating + 10.95sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.96sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.96sINFOplanner_serverDeactivating + 10.96sINFOglobal_costmap.global_costmapDeactivating + 11.07sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.07sINFOwaypoint_followerDeactivating + 11.07sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.18sINFObt_navigatorDeactivating + 11.18sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.29sINFObehavior_serverDeactivating + 11.29sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.41sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.41sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.41sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.41sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.41sINFOvelocity_smootherCleaning up + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.42sINFOwaypoint_followerCleaning up + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.44sINFObt_navigatorCleaning up + 11.55sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7889] ×2 + 11.55sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.62sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7863] ×2 + 11.63sINFObt_navigatorCompleted Cleaning up + 11.63sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.63sINFObehavior_serverCleaning up + 11.64sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7856] ×2 + 11.64sINFOui_teleop_bridge-33process has finished cleanly [pid 7885] ×2 + 11.64sINFOexecute_objective_bridge-32process has finished cleanly [pid 7880] ×2 + 11.66sINFOcomponent_container_mt-31process has finished cleanly [pid 7879] ×2 + 11.68sINFOparameter_manager_node-25process has finished cleanly [pid 7854] ×2 + 11.68sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.68sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.69sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.69sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.69sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.69sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.69sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7790] ×2 + 11.69sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.69sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.69sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.69sINFOwaypoint_manager_node-26process has finished cleanly [pid 7855] ×2 + 11.69sINFOplanner_serverCleaning up + 11.70sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7789] ×2 + 11.70sINFOstatic_transform_publisher-9process has finished cleanly [pid 7707] ×2 + 11.71sINFOglobal_costmap.global_costmapCleaning up + 11.72sINFOstatic_transform_publisher-8process has finished cleanly [pid 7706] ×2 + 11.72sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.72sINFOlidar_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 + 11.72sINFOlidar_flattener.pymain() ×2 + 11.72sINFOlidar_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 + 11.72sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.72sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.72sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.72sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.72sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.72sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.72sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.72sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.72sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.72sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.72sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.72sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.72sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.72sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.75sINFOobjective_server_node[2026-09-10 03:03:42.763] [moveit_pro_license] [critical] ×2 + 11.75sINFOobjective_server_node************************************************* ×4 + 11.75sINFOobjective_server_node* MoveIt Pro License ×2 + 11.75sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.75sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.75sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.75sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.75sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.75sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.77sERRORlidar_flattener.py-7process has died [pid 7705, 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_2mbi2fgu']. ×2 + 11.79sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7704] ×2 + 11.80sERRORodom_qos_relay.py-5process has died [pid 7703, 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 + 11.82sINFOobjective_server_node_main-29process has finished cleanly [pid 7870] ×2 + 11.82sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.84sINFOstatic_transform_publisher-4process has finished cleanly [pid 7702] ×2 + 11.84sINFOstatic_transform_publisher-3process has finished cleanly [pid 7701] ×2 + 12.04sERRORcomponent_container_isolated-1process has died [pid 7699, 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_0n3q6oes --params-file /tmp/launch_params_95jlijzm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.75sINFOcomponent_container_mt-30process has finished cleanly [pid 7871] ×2 + 13.14sERRORcomponent_container_isolated-2process has died [pid 7700, 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_0n3q6oes --params-file /tmp/launch_params_b9yc6u78 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.37sINFOros2_control_node-12process has finished cleanly [pid 7791] ×2 + 13.63sINFOweb_bridge-34process has finished cleanly [pid 7888] ×2 + 13.63sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 101 warnings · 155 info |
+ 0.00sWARNros2_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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921669 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921669 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302790 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302790 ms (missed cycles : 4).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.86sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004004 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004004 ms (missed cycles : 5).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789009255.92638493 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969746 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969746 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789009256.50699329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.601ms + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 10.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 10.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 4.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.187ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258406 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258406 ms (missed cycles : 2).[0m ×2 + 5.42sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006458 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006458 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760194 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760194 ms (missed cycles : 3).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.32sWARNros2_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 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937624 ms (missed cycles : 5). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937624 ms (missed cycles : 5).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952271 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952271 ms (missed cycles : 2).[0m ×2 + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.853ms + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799359 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799359 ms (missed cycles : 3).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.524ms + 10.64sWARNros2_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 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.532ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164468 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164468 ms (missed cycles : 3).[0m ×2 + 11.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.457ms + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.559ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548518 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548518 ms (missed cycles : 3).[0m ×2 + 12.39sWARNros2_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 + 12.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.447ms + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057461 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057461 ms (missed cycles : 3).[0m ×2 + 13.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 13.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sINFOjoint_trajectory_controllerGot request to cancel goal + 14.00sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.02sERRORobjective_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: 1789009266.86753702 seconds ×3 + 14.13sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.13sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.472ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867690 ms (missed cycles : 4). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867690 ms (missed cycles : 4).[0m ×2 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789009267.45251012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.807ms + 14.98sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886397 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886397 ms (missed cycles : 3).[0m ×2 + 15.78sWARNros2_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 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285222 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285222 ms (missed cycles : 3).[0m ×2 + 17.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082900 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082900 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 74 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2).[0m ×2 + 0.87sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4).[0m ×2 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.80sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789009164.96922398 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3).[0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789009165.55611658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 4.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_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 ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2).[0m ×2 + 7.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060715 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060715 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871158 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871158 ms (missed cycles : 2).[0m ×2 + 9.23sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789009171.37626171 seconds ×3 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439136 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439136 ms (missed cycles : 4).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040493 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040493 ms (missed cycles : 2).[0m ×2 + 10.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.78sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789009172.95459247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.19sWARNros2_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 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153711 ms (missed cycles : 5). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153711 ms (missed cycles : 5).[0m ×2 + 12.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 12.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495574 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495574 ms (missed cycles : 2).[0m ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005489 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005489 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 70 warnings · 139 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962565 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962565 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106106 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106106 ms (missed cycles : 3).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455021 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455021 ms (missed cycles : 3).[0m ×2 + 3.07sWARNros2_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 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789009332.60267305 seconds ×3 + 3.18sINFOcontroller_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 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567232 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567232 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×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 `Point-to-Point Trajectory` starting at time: 1789009333.17682362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNlocal_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. ×6 + 3.76sWARNlocal_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. ×6 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.363ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672430 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672430 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139540 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139540 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 8.25sWARNros2_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 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 9.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 10.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 10.49sWARNros2_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 + 10.67sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 12.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.33sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 46 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.26sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789009101.56773186 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789009102.14757919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.4981e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.14sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692105 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692105 ms (missed cycles : 5).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 7.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252009 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252009 ms (missed cycles : 2).[0m ×2 + 7.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms ×2 + 8.39sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789009107.68771219 seconds ×3 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470344 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470344 ms (missed cycles : 3).[0m ×2 + 8.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.93sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789009108.25908899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.38sWARNros2_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 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 9.41sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.298ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380339 ms (missed cycles : 4). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380339 ms (missed cycles : 4).[0m ×2 + 10.57sWARNros2_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 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802593 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802593 ms (missed cycles : 3).[0m ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092844 ms (missed cycles : 4). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092844 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 30 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.584ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917136 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917136 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.089ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.473ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3).[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789009412.94124937 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009413.55277443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.378ms + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009414.25290728 seconds ×3 + 4.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009414.82364774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009415.38378263 seconds ×3 + 5.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082159 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082159 ms (missed cycles : 4).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196655 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196655 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNros2_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 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.88sINFOmove_groupClearing octomap...[0m ×2 + 0.88sINFOmove_groupOctomap cleared.[0m ×2 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 1.71sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892552 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789009101.56773186 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789009102.14757919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.4981e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796141 ms (missed cycles : 3).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240659 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060787 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789009101.56773186 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789009102.14757919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106942 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.4981e-05 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768069 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187421 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692105 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692105 ms (missed cycles : 5).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252009 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252009 ms (missed cycles : 2).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789009107.68771219 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470344 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470344 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789009108.25908899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNros2_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 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 4.15sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.298ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380339 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380339 ms (missed cycles : 4).[0m ×2 + 5.31sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802593 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802593 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal + 6.41sINFOjoint_trajectory_controllerAccepted new action goal + 6.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092844 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092844 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 47 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2).[0m ×2 + 0.87sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4).[0m ×2 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789009164.96922398 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3).[0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789009165.55611658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 4.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_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 ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 47 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2).[0m ×2 + 0.87sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4).[0m ×2 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789009164.96922398 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3).[0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789009165.55611658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 4.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_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 ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 47 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2).[0m ×2 + 0.87sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4).[0m ×2 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789009164.96922398 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3).[0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789009165.55611658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 4.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_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 ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 47 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2).[0m ×2 + 0.87sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4).[0m ×2 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789009164.96922398 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3).[0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789009165.55611658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 4.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_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 ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 47 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158768 ms (missed cycles : 2).[0m ×2 + 0.87sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393824 ms (missed cycles : 4).[0m ×2 + 2.10sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774988 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789009164.96922398 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973003 ms (missed cycles : 3).[0m ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789009165.55611658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 4.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929363 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420215 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_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 ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930704 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 49 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.693ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.661ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789009204.05473089 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_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. ×5 + 3.26sWARNlocal_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. ×5 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3).[0m ×2 + 3.76sWARNlocal_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 + 3.76sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789009204.63625312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.108ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_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 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 49 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.693ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.661ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789009204.05473089 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_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. ×5 + 3.26sWARNlocal_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. ×5 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3).[0m ×2 + 3.76sWARNlocal_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 + 3.76sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789009204.63625312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.108ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_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 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 49 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028236 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584871 ms (missed cycles : 3).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.693ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268062 ms (missed cycles : 4).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.661ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789009204.05473089 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNlocal_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. ×5 + 3.26sWARNlocal_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. ×5 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963540 ms (missed cycles : 3).[0m ×2 + 3.76sWARNlocal_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 + 3.76sWARNlocal_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789009204.63625312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.108ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629901 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_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 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948039 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNros2_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 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNros2_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 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNros2_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 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNros2_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 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNros2_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 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 24 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285714 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421816 ms (missed cycles : 4).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792181 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789009339.09695625 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789009339.67927670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336167 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283114 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161762 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNros2_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 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 24 warnings · 119 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.584ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917136 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917136 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.089ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892928 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.473ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259276 ms (missed cycles : 3).[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 2.45sINFOjoint_trajectory_controllerGoal reached, success! + 2.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789009412.94124937 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789009413.55277443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996556 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.378ms + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789009414.25290728 seconds ×3 + 4.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836776 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789009414.82364774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789009415.38378263 seconds ×3 + 5.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278014 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_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 | ||||
| − 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 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 1.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.99sINFOobjective_server_nodecaller: ×10 + 1.99sINFOobjective_server_nodetype: 0 ×10 + 1.99sINFOobjective_server_nodename: "" ×10 + 1.99sINFOobjective_server_nodeinstance_id: "" ×10 + 1.99sINFOobjective_server_node ×10 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.02sINFOmove_groupClearing octomap...[0m ×2 + 2.02sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.86sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sWARNros2_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 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[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 (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.16sINFOjoint_trajectory_controllerReceived new action goal + 7.16sINFOjoint_trajectory_controllerAccepted new action goal + 7.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.16sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 27 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 24 warnings · 300 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798680 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.13sINFOobjective_server_nodecaller: ×10 + 3.13sINFOobjective_server_nodetype: 0 ×10 + 3.13sINFOobjective_server_nodename: "" ×10 + 3.13sINFOobjective_server_nodeinstance_id: "" ×10 + 3.13sINFOobjective_server_node ×10 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sWARNros2_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 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753729 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 1.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.99sINFOobjective_server_nodecaller: ×10 + 1.99sINFOobjective_server_nodetype: 0 ×10 + 1.99sINFOobjective_server_nodename: "" ×10 + 1.99sINFOobjective_server_nodeinstance_id: "" ×10 + 1.99sINFOobjective_server_node ×10 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.02sINFOmove_groupClearing octomap...[0m ×2 + 2.02sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.86sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sWARNros2_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 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892552 ms (missed cycles : 3). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892552 ms (missed cycles : 3).[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 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[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 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[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 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915696 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789009055.96471786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789009055.97489953 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089933 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789009056.54872823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789009056.56884670 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789009057.14732552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716848 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789009057.29792523 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789009057.89829659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_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 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_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 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789009057.96844625 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450388 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789009058.54109430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775823 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781226 ms (missed cycles : 2).[0m ×2 | ||||